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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..10b720a9ea31d7e3c140156a3a670c8e23e06c02
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/resolved_config.yaml
@@ -0,0 +1,318 @@
+name: lab3_heat_2beaker_s06_polplr_htf_00007
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into beaker b and
+    return it upright. Place beaker a at home. Pick up beaker b from home. Place beaker
+    b on the heater platform. Press the heater button to start heating.
+  layout_id: layout_00007
+  reproducibility:
+    enabled: true
+    layout_id: layout_00007
+    action_seed: 6136293983304232058
+    step_seeds:
+    - 6016277329034288049
+    - 1223355012610134023
+    - 916088432641120656
+    - 6535585947749071529
+    - 2638943555944684541
+    - 6496381160304571677
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.291
+      - 0.291
+      'y':
+      - -0.077
+      - -0.077
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1969
+      - 0.1969
+      'y':
+      - 0.3077
+      - 0.3077
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3306
+      - 0.3306
+      'y':
+      - 0.0809
+      - 0.0809
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2438
+      - 0.2438
+      'y':
+      - -0.3342
+      - -0.3342
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d3b61c70899b837c519ed3fc04e20496afeadbc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_0_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31293069581218025,
+              -0.06972557149561964,
+              1.0015751562195088
+            ],
+            "current_z": 1.0015751562195088,
+            "required_z": 0.8611065800066133,
+            "initial_z": 0.7611065800066134,
+            "lift_margin": 0.14046857621289544,
+            "gripper_z": 1.003139783603621,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3081115945484495,
+              -0.07454069493094699,
+              1.003139783603621
+            ],
+            "object_minus_gripper": [
+              0.004819101263730752,
+              0.004815123435327348,
+              -0.0015646273841123381
+            ],
+            "object_to_gripper_xy": 0.006812426196850133,
+            "object_to_gripper_z": -0.0015646273841123381,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31293069581218025,
+              -0.09384681911088094,
+              1.0015751562195088
+            ],
+            "finger_b": [
+              0.3010400608302106,
+              -0.06972557149561964,
+              1.0015751562195088
+            ],
+            "finger_midpoint": [
+              0.30698537832119543,
+              -0.08178619530325029,
+              1.0015751562195088
+            ],
+            "object_minus_finger_midpoint": [
+              0.005945317490984814,
+              0.01206062380763065,
+              0.0
+            ],
+            "finger_gap": 0.026892783173022253,
+            "fingertip_max_gap": 0.09120879118220196,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013446391586511126,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0015751562195088,
+            "object_top_z": 1.0515201928685851,
+            "finger_top_clearance": 0.049945036649076346,
+            "fingertip_min_top_clearance": 0.014983510994722903,
+            "object_projection_between_fingers": 0.8045036766636267,
+            "object_to_finger_line_xy": 0.010665201472731938,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810439559110098,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.149167969156185,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2207658799375971,
+              0.30526981318633706,
+              0.7565864478039208
+            ],
+            "gripper_position": [
+              0.2242842421049066,
+              0.27392930288024153,
+              1.0358309674532247
+            ],
+            "target_minus_gripper": [
+              -0.0035183621673094967,
+              0.031340510306095526,
+              -0.27924451964930386
+            ],
+            "held_position": [
+              0.22922196059651556,
+              0.278518402712934,
+              1.0339859787411716
+            ],
+            "held_minus_target": [
+              0.008456080658918452,
+              -0.02675141047340307,
+              0.2773995309372508
+            ],
+            "held_minus_gripper": [
+              0.004937718491608956,
+              0.004589099832692456,
+              -0.001844988712053075
+            ],
+            "xy_dist": 0.03153738192347035,
+            "held_xy_dist": 0.028056073539015295,
+            "held_gripper_dist": 0.006988911540747831,
+            "max_held_gripper_dist": 0.00701174716322619,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
+            "held_z": 1.0339859787411716,
+            "required_height": 0.7865864478039208,
+            "gripper_z": 1.0358309674532247,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.39003446166863,
+            "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": 0.2260710844521488,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.5108178511427344,
+            "max_source_tilt_deg": 89.84071397359129,
+            "source_upright_tilt_deg": 2.341920337868369,
+            "max_source_upright_tilt_deg": 89.95312975929399,
+            "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": 2.5108178511427344,
+            "source_upright_return_tilt_deg": 2.341920337868369,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.478711107352004e-07,
+            "max_target_xy_drift": 9.424321830774484e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2208,
+                0.3053,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2208,
+                0.3053,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0012,
+                -0.0013,
+                0.0013
+              ],
+              "controller_last_pour_pose_position": [
+                0.2196,
+                0.2788,
+                1.0231
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  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": [
+                  -0.0011671762392476193,
+                  -0.001316363570438477,
+                  0.001334888163690586
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.3419219512957326,
+              "source_return_step_error_deg": 2.510820531107419,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.5098659073945635,
+              "source_return_best_wrist_position": -1.6160794496536255,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6160794496536255
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
+              0.2208,
+              0.3053,
+              0.7566
+            ],
+            "pour_controller_controller_target_position": [
+              0.2208,
+              0.3053,
+              0.7566
+            ],
+            "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,
+              -0.0013,
+              0.0013
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.2196,
+              0.2788,
+              1.0231
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
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+                "gripper_center",
+                "joint1",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3067183612152273,
+              -0.33286302131697315,
+              0.8470178292936937
+            ],
+            "target_position": [
+              0.29949847708002647,
+              -0.33334803795515994,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072361569956049384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18712203613001552,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470178292936937,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589518171711628,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595384420964246,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15441229638488152,
+            "release_required_pad_clearance": 0.05297692210482123,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9706788998117736,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007718265056610107,
+            "max_z_decrease": 0.007718265056610107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516207407245349,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007718265056610107,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021048439529465907,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007718265056610107,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007718737430360125,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15519841015338892,
+              -0.3896094858646393,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15519841015338892,
+              -0.3896094858646393,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1573236012793322,
+              -0.3898008573313681,
+              0.8043319380862531
+            ],
+            "closest_button": [
+              0.1551061868667602,
+              -0.3896196186542511,
+              0.7692403197288513
+            ],
+            "closest_ee_minus_button": [
+              0.0022174144125720052,
+              -0.0001812386771170016,
+              0.03509161835740182
+            ],
+            "button_min_z_position": [
+              0.1551136672496795,
+              -0.38962000608444214,
+              0.7690905928611755
+            ],
+            "min_active_finger_to_button": 0.143687846080959,
+            "closest_active_finger": [
+              0.01664888858795166,
+              -0.3728369176387787,
+              0.8103125095367432
+            ],
+            "closest_active_finger_button": [
+              0.155196264386177,
+              -0.3896166682243347,
+              0.7761180400848389
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13854737579822535,
+              0.01677975058555603,
+              0.0341944694519043
+            ],
+            "min_contact_pad_to_button": 0.021048439529465907,
+            "closest_contact_pad": [
+              0.1551061868667602,
+              -0.3910566609360245,
+              0.7902396462920052
+            ],
+            "closest_contact_pad_button": [
+              0.1551061868667602,
+              -0.3896196186542511,
+              0.7692403197288513
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014370422817733819,
+              0.02099932656315384
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a7e464265d0dc150261a393ddadeaf4be3434a364a12331341dff2f9940edbc",
+    "visual_seed": 823884554332285201,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9929587de8f5afd711871d9383f3dc9fe3ce058
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_101_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.31020349414325255,
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+              1.0004934065153903
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+            "current_z": 1.0004934065153903,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.13938701770991369,
+            "gripper_z": 1.002218696721132,
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+            "gripper_position": [
+              0.30605648352041537,
+              -0.0782071861031101,
+              1.002218696721132
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+              0.004147010622837177,
+              0.004432666725439238,
+              -0.0017252902057416364
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+            "object_to_gripper_xy": 0.0060701096699104715,
+            "object_to_gripper_z": -0.0017252902057416364,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31020349414325255,
+              -0.09750914758820495,
+              1.0004934065153903
+            ],
+            "finger_b": [
+              0.2989847681311468,
+              -0.07377451937767086,
+              1.0004934065153903
+            ],
+            "finger_midpoint": [
+              0.3045941311371997,
+              -0.08564183348293791,
+              1.0004934065153903
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011867314105267049,
+              0.0
+            ],
+            "finger_gap": 0.02625247397155129,
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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": 1.0505040632684297,
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+            "fingertip_min_top_clearance": 0.015003197025911784,
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+            "object_to_finger_line_xy": 0.010142750400656535,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049073973530793916,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1035636503551065,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+  "collection_result_filename": "episode_102_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9bc3e53c1cf90a665697892b0acbcd52dc7e58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_10_success.json
@@ -0,0 +1,1682 @@
+{
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+    "task_island_state_digest": "30f25330adc5cd1cd36cfb58b6784bb19e4896ec3b7b069e32dcbee45b38a9e5",
+    "visual_seed": 3081236848217210276,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9a2a6441a01131c46b55cf3ffbf5addcdef628
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_11_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+              1.0020591514749886
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+            "gripper_position": [
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+              -0.07522605808487264,
+              1.0034974504062197
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+              0.00427270994419153,
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+              -0.09513760270852448,
+              1.0020591514749886
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+            "finger_b": [
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+              1.0020591514749886
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+              -0.08304547542460279,
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+              0.012092127283921686,
+              0.0
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+              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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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "target_position": [
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+              0.27960694050827817,
+              1.0330990901383237
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+            "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": 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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+              "source_name": "beaker",
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+              "controller_target_position": [
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+            "xy_dist": 0.008046358217175325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18687508919105666,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195507661972,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562800157985818,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540524046636654,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15496728340682894,
+            "release_required_pad_clearance": 0.05270262023318327,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4597003669865408,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00769495964050293,
+            "max_z_decrease": 0.00769495964050293,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508106901394274,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00769495964050293,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020958235706161954,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00769495964050293,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007695549062806918,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14989975094795227,
+              -0.39161574840545643,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14989975094795227,
+              -0.39161574840545643,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1488263911590214,
+              -0.39105936997491036,
+              0.8041767209263524
+            ],
+            "closest_button": [
+              0.14980514347553253,
+              -0.39162674546241755,
+              0.7691138982772827
+            ],
+            "closest_ee_minus_button": [
+              -0.0009787523165111223,
+              0.0005673754875071824,
+              0.03506282264906968
+            ],
+            "button_min_z_position": [
+              0.14980514347553253,
+              -0.39162674546241755,
+              0.7691138982772827
+            ],
+            "min_active_finger_to_button": 0.14640273845193222,
+            "closest_active_finger": [
+              0.021450601518154144,
+              -0.45307427644729614,
+              0.8105219602584839
+            ],
+            "closest_active_finger_button": [
+              0.1498892903327942,
+              -0.3916241228580474,
+              0.7764464020729065
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12843868881464005,
+              -0.06145015358924877,
+              0.03407555818557739
+            ],
+            "min_contact_pad_to_button": 0.020958235706161954,
+            "closest_contact_pad": [
+              0.14980514347553253,
+              -0.39233379740963814,
+              0.7900602039529615
+            ],
+            "closest_contact_pad_button": [
+              0.14980514347553253,
+              -0.39162674546241755,
+              0.7691138982772827
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007070519472205938,
+              0.02094630567567879
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "109aef432e1e4b1204ef75ce1a51d3b8bf140993c6891a8d8f0b7c345f7434c4",
+    "visual_seed": 1203581052067202963,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..44d6c978b624d43b57d65cb1758eccfcafe341f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_12_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3136931935000359,
+              -0.07903333729082165,
+              1.003063104000396
+            ],
+            "current_z": 1.003063104000396,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14195665559027493,
+            "gripper_z": 1.0051297334143827,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30984138707295783,
+              -0.08318766107327481,
+              1.0051297334143827
+            ],
+            "object_minus_gripper": [
+              0.0038518064270780528,
+              0.004154323782453159,
+              -0.0020666294139866093
+            ],
+            "object_to_gripper_xy": 0.005665228931043804,
+            "object_to_gripper_z": -0.0020666294139866093,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3136931935000359,
+              -0.10276132275296294,
+              1.003063104000396
+            ],
+            "finger_b": [
+              0.30313231138791485,
+              -0.07903333729082165,
+              1.003063104000396
+            ],
+            "finger_midpoint": [
+              0.30841275244397537,
+              -0.09089733002189229,
+              1.003063104000396
+            ],
+            "object_minus_finger_midpoint": [
+              0.005280441056060514,
+              0.011863992731070638,
+              0.0
+            ],
+            "finger_gap": 0.02597209127270475,
+            "fingertip_max_gap": 0.09366480666955315,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01298604563635237,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.003063104000396,
+            "object_top_z": 1.0530394684663371,
+            "finger_top_clearance": 0.049976364465941,
+            "fingertip_min_top_clearance": 0.0149929093397823,
+            "object_projection_between_fingers": 0.8346567200187863,
+            "object_to_finger_line_xy": 0.009648374271930528,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04933240333477658,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.510609064598121,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+              -0.3858648538589477,
+              0.7902967748933406
+            ],
+            "closest_contact_pad_button": [
+              0.15709497034549716,
+              -0.3858648538589477,
+              0.769290566444397
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02100620844894363
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00ba0caf063385f7d949fc134bf0a3926134be141a2f3df826d6f30d94b8e9c4",
+    "visual_seed": 3846740319682961485,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0176073211457bbe44d0ef3ea49bf3a79c18a874
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_13_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3145184018800409,
+              -0.07323552886546567,
+              1.0029117480046699
+            ],
+            "current_z": 1.0029117480046699,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.14180535919919324,
+            "gripper_z": 1.0039462978880165,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3105108920556289,
+              -0.07752831836474415,
+              1.0039462978880165
+            ],
+            "object_minus_gripper": [
+              0.004007509824412003,
+              0.004292789499278485,
+              -0.0010345498833466138
+            ],
+            "object_to_gripper_xy": 0.005872663507972711,
+            "object_to_gripper_z": -0.0010345498833466138,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3145184018800409,
+              -0.09685364021118373,
+              1.0029117480046699
+            ],
+            "finger_b": [
+              0.3034597856404826,
+              -0.07323552886546567,
+              1.0029117480046699
+            ],
+            "finger_midpoint": [
+              0.30898909376026173,
+              -0.0850445845383247,
+              1.0029117480046699
+            ],
+            "object_minus_finger_midpoint": [
+              0.005529308119779142,
+              0.011809055672859031,
+              0.0
+            ],
+            "finger_gap": 0.026078883731336325,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014971531984403819,
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+            "object_to_finger_line_xy": 0.010015138391894298,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04904743228778925,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8563131496334764,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.30723798835914296,
+              0.756586388199276
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+            "gripper_position": [
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+              0.27707386757976615,
+              1.0357539675074956
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+            "held_position": [
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+              0.28119035768871825,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004116490108952098,
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+            "max_held_gripper_dist": 0.005972244016980575,
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+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "gripper_z": 1.0357539675074956,
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+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36731725248917,
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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": 2.508040639538545,
+            "max_source_tilt_deg": 89.99267075983049,
+            "source_upright_tilt_deg": 2.6794491181243045,
+            "max_source_upright_tilt_deg": 89.91607916875476,
+            "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": 2.508040639538545,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.5840151626966372e-07,
+            "max_target_xy_drift": 3.665201031043781e-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": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.3072,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3072,
+                0.7566
+              ],
+              "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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+                0.0006,
+                0.0015
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+              "controller_last_pour_pose_position": [
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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": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.615654706954956
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+                "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"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30704543803549,
+              -0.33073700789799365,
+              0.8470194952204958
+            ],
+            "target_position": [
+              0.29977018671943784,
+              -0.3315097342712287,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0073161730269049674,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18711567158581022,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194952204958,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757730952754795,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593537771077829,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15460793902946307,
+            "release_required_pad_clearance": 0.05296768885538915,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9699428661621265,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007571220397949219,
+            "max_z_decrease": 0.007571220397949219,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518896836233909,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007571220397949219,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.020998252204355198,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007571220397949219,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00757170333295404,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15547011792659757,
+              -0.3877711892127991,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15547011792659757,
+              -0.3877711892127991,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1577567305547719,
+              -0.38682873529318773,
+              0.8057600654114419
+            ],
+            "closest_button": [
+              0.15538595616817472,
+              -0.3877813518047332,
+              0.7706639766693115
+            ],
+            "closest_ee_minus_button": [
+              0.002370774386597191,
+              0.0009526165115454899,
+              0.03509608874213033
+            ],
+            "button_min_z_position": [
+              0.15538512170314786,
+              -0.38778060674667353,
+              0.7692376375198364
+            ],
+            "min_active_finger_to_button": 0.1434603155166962,
+            "closest_active_finger": [
+              0.031082510948181152,
+              -0.45060160756111145,
+              0.8103559017181396
+            ],
+            "closest_active_finger_button": [
+              0.15546602010726926,
+              -0.38777756690979,
+              0.7762568593025208
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12438350915908811,
+              -0.06282404065132147,
+              0.034099042415618896
+            ],
+            "min_contact_pad_to_button": 0.020998252204355198,
+            "closest_contact_pad": [
+              0.1553886383771896,
+              -0.3879600164732679,
+              0.7903083286832834
+            ],
+            "closest_contact_pad_button": [
+              0.1553886383771896,
+              -0.38778188824653625,
+              0.7693108320236206
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001781282267316331,
+              0.020997496659662773
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "94efeff0552fbd0bf4610fe78292e9856af5a88714397951bb74d46262dd967b",
+    "visual_seed": 7649205848875465910,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5f4db53d619a489b11c4ea6a2234c187a83a9be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_16_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31707748568924954,
+              -0.07028599108761358,
+              1.0018155127753272
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+            "current_z": 1.0018155127753272,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14070900476056114,
+            "gripper_z": 1.0033945521127512,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31301306142895124,
+              -0.0744786628323258,
+              1.0033945521127512
+            ],
+            "object_minus_gripper": [
+              0.004064424260298294,
+              0.004192671744712231,
+              -0.001579039337423982
+            ],
+            "object_to_gripper_xy": 0.00583935278319521,
+            "object_to_gripper_z": -0.001579039337423982,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31707748568924954,
+              -0.09420126298950157,
+              1.0018155127753272
+            ],
+            "finger_b": [
+              0.3064927544059904,
+              -0.07028599108761358,
+              1.0018155127753272
+            ],
+            "finger_midpoint": [
+              0.31178512004761993,
+              -0.08224362703855757,
+              1.0018155127753272
+            ],
+            "object_minus_finger_midpoint": [
+              0.005292365641629604,
+              0.011957635950943998,
+              0.0
+            ],
+            "finger_gap": 0.02615294947955275,
+            "fingertip_max_gap": 0.09403977842731678,
+            "finger_z_skew": 0.0,
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074828267097473145,
+            "max_z_decrease": 0.0074828267097473145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035122155355831124,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074828267097473145,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021146012470889795,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074828267097473145,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007483243965538614,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15381927788257602,
+              -0.3885670602321625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15381927788257602,
+              -0.3885670602321625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15442241458979553,
+              -0.390233646204696,
+              0.8045517506518184
+            ],
+            "closest_button": [
+              0.1537300199270249,
+              -0.3885795474052429,
+              0.7694754004478455
+            ],
+            "closest_ee_minus_button": [
+              0.000692394662770629,
+              -0.0016540987994531076,
+              0.03507635020397293
+            ],
+            "button_min_z_position": [
+              0.1537410616874695,
+              -0.388578325510025,
+              0.7693260312080383
+            ],
+            "min_active_finger_to_button": 0.14501275554826815,
+            "closest_active_finger": [
+              0.013528801500797272,
+              -0.3751145601272583,
+              0.8105295896530151
+            ],
+            "closest_active_finger_button": [
+              0.15381443500518804,
+              -0.38857364654541016,
+              0.7763609886169434
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14028563350439077,
+              0.013459086418151855,
+              0.03416860103607178
+            ],
+            "min_contact_pad_to_button": 0.021146012470889795,
+            "closest_contact_pad": [
+              0.15371993184089663,
+              -0.39133002854959403,
+              0.7903733078171103
+            ],
+            "closest_contact_pad_button": [
+              0.15371993184089663,
+              -0.3885801732540131,
+              0.7694068551063538
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027498552955809163,
+              0.02096645271075659
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86d1bc17e9e86d8fb613ec2773f19c559b27f15cbd4cf8d19aecd639458c8ea0",
+    "visual_seed": 8111777857512438643,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..349b29575c78422ceb558f4405468e808e62beca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_17_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30985929323746325,
+              -0.07627558072760159,
+              1.0014306980981011
+            ],
+            "current_z": 1.0014306980981011,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14032424968797974,
+            "gripper_z": 1.0033080779679013,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3058356781646217,
+              -0.0805232068512005,
+              1.0033080779679013
+            ],
+            "object_minus_gripper": [
+              0.0040236150728415465,
+              0.004247626123598913,
+              -0.0018773798698001887
+            ],
+            "object_to_gripper_xy": 0.00585079532544744,
+            "object_to_gripper_z": -0.0018773798698001887,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30985929323746325,
+              -0.1001382134911725,
+              1.0014306980981011
+            ],
+            "finger_b": [
+              0.29918055368828,
+              -0.07627558072760159,
+              1.0014306980981011
+            ],
+            "finger_midpoint": [
+              0.3045199234628716,
+              -0.08820689710938703,
+              1.0014306980981011
+            ],
+            "object_minus_finger_midpoint": [
+              0.005339369774591651,
+              0.011931316381785448,
+              0.0
+            ],
+            "finger_gap": 0.026143081699913234,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0014306980981011,
+            "object_top_z": 1.0514779962192393,
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+            "object_projection_between_fingers": 0.8331499164559258,
+            "object_to_finger_line_xy": 0.009747238032799586,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048958791280483624,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.693361944927004,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.21854486186165412,
+              0.307900613195111,
+              0.7565865074085657
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+            "gripper_position": [
+              0.22229336814738465,
+              0.2758638983680405,
+              1.0343774978802178
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+              0.03203671482707049,
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+            "held_position": [
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+              0.27992182537053867,
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+            "held_minus_target": [
+              0.007825976445829108,
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+            "held_minus_gripper": [
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+              0.004057927002498185,
+              -0.002185429869019151
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+            "xy_dist": 0.032255269279378204,
+            "held_xy_dist": 0.029052684479460886,
+            "held_gripper_dist": 0.006153749928011314,
+            "max_held_gripper_dist": 0.006195918034499495,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565865074085657,
+            "held_z": 1.0321920680111987,
+            "required_height": 0.7865865074085657,
+            "gripper_z": 1.0343774978802178,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.41287461425316,
+            "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": 2.612870144463571,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.7643456109146336,
+            "max_source_tilt_deg": 89.97817865731585,
+            "source_upright_tilt_deg": 2.6897053155847517,
+            "max_source_upright_tilt_deg": 89.65430027248458,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f031f8a853b0c0ebf2b8fedb6c5d291e07506f82b654fc737cc5f5ba323321b3",
+    "visual_seed": 8034856794952861657,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1580381e652038c6049cd5decb79bdf427384d78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_18_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.31502495148633003,
+              -0.07061585214818325,
+              1.0023290651481735
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+            "current_z": 1.0023290651481735,
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+            "lift_margin": 0.14122255713340748,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.0748440776193785,
+              1.00361465402566
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+              0.004228225471195252,
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+            "object_to_gripper_z": -0.001285588877486532,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31502495148633003,
+              -0.09480432248068009,
+              1.0023290651481735
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+              0.3045412540433696,
+              -0.07061585214818325,
+              1.0023290651481735
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+              -0.08271008731443166,
+              1.0023290651481735
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+              0.012094235166248413,
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+            "fingertip_z_skew_max": 0.035,
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+              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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "target_position": [
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+              0.3114312645260588,
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+              0.2807243451647181,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "missing_end_effector_orientation_samples": 0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "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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+            "valid_pour_pose_failed_keys": [
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.29842686329139606,
+              -0.33393615326070875,
+              0.8470197324586196
+            ],
+            "target_position": [
+              0.292542183152883,
+              -0.33363695033694346,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0058922816227841525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18509971272708634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197324586196,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576174715338378,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568111860901655,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1524212011934376,
+            "release_required_pad_clearance": 0.052840559304508275,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7241535507004541,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00762176513671875,
+            "max_z_decrease": 0.00762176513671875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351513181576491,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00762176513671875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020994342274909372,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00762176513671875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00762221452652484,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14824211597442627,
+              -0.38989841938018793,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14824211597442627,
+              -0.38989841938018793,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14914595391976046,
+              -0.3879627956146223,
+              0.8046079312119069
+            ],
+            "closest_button": [
+              0.14814366400241852,
+              -0.3899105489253998,
+              0.7695249319076538
+            ],
+            "closest_ee_minus_button": [
+              0.001002289917341942,
+              0.0019477533107774558,
+              0.03508299930425307
+            ],
+            "button_min_z_position": [
+              0.14816007018089294,
+              -0.38990932703018183,
+              0.7691870927810669
+            ],
+            "min_active_finger_to_button": 0.14413286578249004,
+            "closest_active_finger": [
+              0.021447472274303436,
+              -0.44937413930892944,
+              0.8105674982070923
+            ],
+            "closest_active_finger_button": [
+              0.14823760092258453,
+              -0.38990500569343567,
+              0.7764798402786255
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1267901286482811,
+              -0.059469133615493774,
+              0.0340876579284668
+            ],
+            "min_contact_pad_to_button": 0.020994342274909372,
+            "closest_contact_pad": [
+              0.14816007018089294,
+              -0.38990932703018183,
+              0.7901814350559763
+            ],
+            "closest_contact_pad_button": [
+              0.14816007018089294,
+              -0.38990932703018183,
+              0.7691870927810669
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020994342274909372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c96bb385ae711fcc3c5175ff662963e197c716adb2d366c3ba549d890a31446c",
+    "visual_seed": 3325407182951425646,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e070e0707cde7f8bbe0406979f31c2588cdc63c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_1_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3184036240433865,
+              -0.07464411249610137,
+              1.002282420668146
+            ],
+            "current_z": 1.002282420668146,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1411759722580247,
+            "gripper_z": 1.0038254888937674,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3141598202246575,
+              -0.07900167676373447,
+              1.0038254888937674
+            ],
+            "object_minus_gripper": [
+              0.0042438038187290195,
+              0.0043575642676331044,
+              -0.0015430682256214467
+            ],
+            "object_to_gripper_xy": 0.0060826176271743275,
+            "object_to_gripper_z": -0.0015430682256214467,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3184036240433865,
+              -0.09866697588405719,
+              1.002282420668146
+            ],
+            "finger_b": [
+              0.3075520497549426,
+              -0.07464411249610137,
+              1.002282420668146
+            ],
+            "finger_midpoint": [
+              0.3129778368991646,
+              -0.08665554419007929,
+              1.002282420668146
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425787144221927,
+              0.01201143169397792,
+              0.0
+            ],
+            "finger_gap": 0.026360095407528504,
+            "fingertip_max_gap": 0.09250158082141183,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013180047703764247,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002282420668146,
+            "object_top_z": 1.0523198777555836,
+            "finger_top_clearance": 0.050037457087437565,
+            "fingertip_min_top_clearance": 0.015011237126231251,
+            "object_projection_between_fingers": 0.8305305031131766,
+            "object_to_finger_line_xy": 0.009889413624849382,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048750790410705916,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2414521849534967,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+              0.0019915832339457706,
+              0.03507729253484071
+            ],
+            "button_min_z_position": [
+              0.1571199744939804,
+              -0.3943146467208862,
+              0.7688906788825989
+            ],
+            "min_active_finger_to_button": 0.14329268397038092,
+            "closest_active_finger": [
+              0.03181396424770355,
+              -0.4546560049057007,
+              0.810028076171875
+            ],
+            "closest_active_finger_button": [
+              0.15721493959426874,
+              -0.39431086182594294,
+              0.7758834958076477
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1254009753465652,
+              -0.060345143079757746,
+              0.034144580364227295
+            ],
+            "min_contact_pad_to_button": 0.020994772779715065,
+            "closest_contact_pad": [
+              0.1571199744939804,
+              -0.3943146467208862,
+              0.7898854516623139
+            ],
+            "closest_contact_pad_button": [
+              0.1571199744939804,
+              -0.3943146467208862,
+              0.7688906788825989
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020994772779715065
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac0778c9277d9ee1383e36d906dae86644b30d3e50b090d2c18a95b20076cf9d",
+    "visual_seed": 675514586716819408,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d08d7520be1719be13e856bc753380c928dc723c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_23_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3141383048476094,
+              -0.07483569444592124,
+              1.0048077322905962
+            ],
+            "current_z": 1.0048077322905962,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14370128388047476,
+            "gripper_z": 1.0059373077793445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31005866619917843,
+              -0.07910113409772447,
+              1.0059373077793445
+            ],
+            "object_minus_gripper": [
+              0.004079638648430972,
+              0.004265439651803232,
+              -0.0011295754887483689
+            ],
+            "object_to_gripper_xy": 0.005902323858019566,
+            "object_to_gripper_z": -0.0011295754887483689,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3141383048476094,
+              -0.09865234496303948,
+              1.0048077322905962
+            ],
+            "finger_b": [
+              0.30329505017060354,
+              -0.07483569444592124,
+              1.0048077322905962
+            ],
+            "finger_midpoint": [
+              0.3087166775091065,
+              -0.08674401970448037,
+              1.0048077322905962
+            ],
+            "object_minus_finger_midpoint": [
+              0.005421627338502932,
+              0.01190832525855913,
+              0.0
+            ],
+            "finger_gap": 0.026168855799307663,
+            "fingertip_max_gap": 0.09334523226079858,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013084427899653838,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0048077322905962,
+            "object_top_z": 1.0547062808094394,
+            "finger_top_clearance": 0.04989854851884323,
+            "fingertip_min_top_clearance": 0.014969564555652952,
+            "object_projection_between_fingers": 0.828308083548344,
+            "object_to_finger_line_xy": 0.009868601405078952,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04917261613039929,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.943841901068695,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.21802160758633224,
+              0.3076258357826964,
+              0.756586388199276
+            ],
+            "gripper_position": [
+              0.22148503214329943,
+              0.2776493353823636,
+              1.0350588325733348
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+            "target_minus_gripper": [
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+              0.02997650040033284,
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+            "held_position": [
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+              0.2817898265836474,
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+            "held_minus_target": [
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+              0.27713036889205056
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+            "held_minus_gripper": [
+              0.004140017202692831,
+              0.004140491201283791,
+              -0.0013420754820081537
+            ],
+            "xy_dist": 0.03017591565989271,
+            "held_xy_dist": 0.026931611498866696,
+            "held_gripper_dist": 0.006007043900780855,
+            "max_held_gripper_dist": 0.006017754577587794,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
+            "held_z": 1.0337167570913266,
+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0350588325733348,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.3492240813778,
+            "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": 2.6824896325323846,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.409077339005988,
+            "max_source_tilt_deg": 89.72440494807968,
+            "source_upright_tilt_deg": 3.202107655453272,
+            "max_source_upright_tilt_deg": 89.58550211400889,
+            "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": 2.409077339005988,
+            "source_upright_return_tilt_deg": 3.202107655453272,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.2013700229374393e-07,
+            "max_target_xy_drift": 1.1535654802895728e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.218,
+                0.3076,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.218,
+                0.3076,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0008,
+                0.0008,
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+              "controller_last_pour_pose_position": [
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+                0.2833,
+                1.0225
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
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+                0.2
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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,
+                "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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+                  0.0008377883394634885,
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+            "required_stable_lift_frames": 5
+          },
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3084800888628759,
+              -0.3298087495312773,
+              0.8470196312062974
+            ],
+            "target_position": [
+              0.30117798358191267,
+              -0.330809871646453,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007370412947980953,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18606372855258838,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196312062974,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546403660753878,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695165045750473,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543045552035277,
+            "release_required_pad_clearance": 0.05347582522875237,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9643616881594046,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074059367179870605,
+            "max_z_decrease": 0.0074059367179870605,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508125360630682,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074059367179870605,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021034914471665486,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074059367179870605,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007406475853489822,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15687790513038635,
+              -0.3870713412761688,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15687790513038635,
+              -0.3870713412761688,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15541817325343849,
+              -0.3882768315806337,
+              0.804801256785821
+            ],
+            "closest_button": [
+              0.15678070485591888,
+              -0.3870847523212433,
+              0.7697667479515076
+            ],
+            "closest_ee_minus_button": [
+              -0.001362531602480399,
+              -0.0011920792593904106,
+              0.03503450883431347
+            ],
+            "button_min_z_position": [
+              0.15678919851779938,
+              -0.38708215951919556,
+              0.7694029211997986
+            ],
+            "min_active_finger_to_button": 0.147030010191008,
+            "closest_active_finger": [
+              0.01446068286895752,
+              -0.37398895621299744,
+              0.8105323314666748
+            ],
+            "closest_active_finger_button": [
+              0.15686900913715363,
+              -0.38707691431045527,
+              0.7763797640800476
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1424083262681961,
+              0.01308795809745783,
+              0.0341525673866272
+            ],
+            "min_contact_pad_to_button": 0.021034914471665486,
+            "closest_contact_pad": [
+              0.15678919851779938,
+              -0.3892875067469663,
+              0.7903219094744558
+            ],
+            "closest_contact_pad_button": [
+              0.15678919851779938,
+              -0.38708215951919556,
+              0.7694029211997986
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002205347227770771,
+              0.020918988274657213
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e448dcd2270f44e372d9d815a903d50c3e01d92ec32e266f89384d0df0f7868",
+    "visual_seed": 3925347309362178373,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc6599a5127298294288794437e9727c6cf38ed2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_25_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3137039222102495,
+              -0.07275325018698424,
+              1.0042629369907798
+            ],
+            "current_z": 1.0042629369907798,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14315648858065866,
+            "gripper_z": 1.005634408443547,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3096772864378626,
+              -0.07693088822793154,
+              1.005634408443547
+            ],
+            "object_minus_gripper": [
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+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007777154445648193,
+            "max_z_decrease": 0.007777154445648193,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507626911244175,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007777154445648193,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021081560449104312,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007777154445648193,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007777695922521055,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15457984805107114,
+              -0.3872017562389373,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15457984805107114,
+              -0.3872017562389373,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1540807719377995,
+              -0.38854002163162626,
+              0.804693530268916
+            ],
+            "closest_button": [
+              0.15447959303855893,
+              -0.3872136175632476,
+              0.7696446180343628
+            ],
+            "closest_ee_minus_button": [
+              -0.00039882110075942223,
+              -0.0013264040683786393,
+              0.0350489122345532
+            ],
+            "button_min_z_position": [
+              0.15448872745037073,
+              -0.38721269369125366,
+              0.7690317034721375
+            ],
+            "min_active_finger_to_button": 0.14616088349816264,
+            "closest_active_finger": [
+              0.013004899024963379,
+              -0.37477633357048035,
+              0.8106175065040588
+            ],
+            "closest_active_finger_button": [
+              0.15457093715667722,
+              -0.3872065544128418,
+              0.7764480710029602
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14156603813171384,
+              0.01243022084236145,
+              0.03416943550109863
+            ],
+            "min_contact_pad_to_button": 0.021081560449104312,
+            "closest_contact_pad": [
+              0.15448872745037073,
+              -0.38953990280072864,
+              0.7899844190176226
+            ],
+            "closest_contact_pad_button": [
+              0.15448872745037073,
+              -0.38721269369125366,
+              0.7690317034721375
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023272091094749814,
+              0.020952715545485168
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "47388c3cfa3aa3196f329e51ddb8b43287e7499f5812bf9b9e80e29ea19c0fc6",
+    "visual_seed": 3662808413918988550,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef0200565efdc51c8219304acf9309618bd52a7b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_26_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31833283335091206,
+              -0.07156715203173088,
+              1.0023563223247696
+            ],
+            "current_z": 1.0023563223247696,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14124987391464838,
+            "gripper_z": 1.0038825356155248,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31427233437297075,
+              -0.07584524700333681,
+              1.0038825356155248
+            ],
+            "object_minus_gripper": [
+              0.004060498977941307,
+              0.004278094971605931,
+              -0.0015262132907551962
+            ],
+            "object_to_gripper_xy": 0.00589828352454698,
+            "object_to_gripper_z": -0.0015262132907551962,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31833283335091206,
+              -0.09542658885578245,
+              1.0023563223247696
+            ],
+            "finger_b": [
+              0.30755738778785946,
+              -0.07156715203173088,
+              1.0023563223247696
+            ],
+            "finger_midpoint": [
+              0.3129451105693858,
+              -0.08349687044375667,
+              1.0023563223247696
+            ],
+            "object_minus_finger_midpoint": [
+              0.005387722781526272,
+              0.011929718412025794,
+              0.0
+            ],
+            "finger_gap": 0.026179819568576446,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0023563223247696,
+            "object_top_z": 1.0522254959386805,
+            "finger_top_clearance": 0.049869173613910966,
+            "fingertip_min_top_clearance": 0.014960752084173289,
+            "object_projection_between_fingers": 0.8305907279506672,
+            "object_to_finger_line_xy": 0.009820390930854688,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049005710724565346,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0187245194117582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.21880390364784805,
+              0.3103271778885619,
+              0.7565865074085656
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+            "gripper_position": [
+              0.22306928598215328,
+              0.2805143526761362,
+              1.0339182894738794
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+            "target_minus_gripper": [
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+              0.029812825212425675,
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+            "held_position": [
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+            "held_minus_target": [
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+              -0.02575322778662692,
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+            "held_minus_gripper": [
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+              0.0040595974257987555,
+              -0.0017864677537628992
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+            "xy_dist": 0.030116408046187166,
+            "held_xy_dist": 0.027103227867107886,
+            "held_gripper_dist": 0.006095892712039314,
+            "max_held_gripper_dist": 0.006121729644525913,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565865074085656,
+            "held_z": 1.0321318217201165,
+            "required_height": 0.7865865074085656,
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b6a881aeda6c3ef096b0461342b55d258f4a25dac0784e0f2b0f25303b97b6a",
+    "visual_seed": 529963730137834380,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4877e89171c40f33619a3497a630c71219211442
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_27_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.31509461231348646,
+              -0.07541246086313794,
+              1.0031382753485316
+            ],
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+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14203182693841043,
+            "gripper_z": 1.0045889615319943,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31092730546706704,
+              -0.07960822723034532,
+              1.0045889615319943
+            ],
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+              0.004167306846419416,
+              0.004195766367207379,
+              -0.0014506861834626683
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+            "object_to_gripper_xy": 0.005913620021645181,
+            "object_to_gripper_z": -0.0014506861834626683,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31509461231348646,
+              -0.09957010284912672,
+              1.0031382753485316
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+            "finger_b": [
+              0.3047353877082278,
+              -0.07541246086313794,
+              1.0031382753485316
+            ],
+            "finger_midpoint": [
+              0.30991500001085714,
+              -0.08749128185613234,
+              1.0031382753485316
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+              0.005179612302629311,
+              0.012078820992994399,
+              0.0
+            ],
+            "finger_gap": 0.02628507562753824,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.844676904579068,
+            "object_to_finger_line_xy": 0.0095207806442109,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049016275140322654,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.968875074658063,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2143660845245799,
+              0.3094275947872893,
+              0.756586388199276
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+            "gripper_position": [
+              0.21744704724212888,
+              0.27871538692037784,
+              1.0345988133451889
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+            "target_minus_gripper": [
+              -0.003080962717548985,
+              0.03071220786691148,
+              -0.27801242514591284
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+            "held_position": [
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+              0.2827645768099759,
+              1.0328428439385993
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+            "held_minus_target": [
+              0.007286549846781509,
+              -0.026663017977313408,
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+              0.0040491898895980705,
+              -0.0017559694065896192
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+            "held_gripper_dist": 0.006096419475435414,
+            "max_held_gripper_dist": 0.006109189098138705,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
+            "held_z": 1.0328428439385993,
+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0345988133451889,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.39301925433593,
+            "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": 3.1303325389756913,
+            "max_source_tilt_deg": 89.68004767776769,
+            "source_upright_tilt_deg": 3.2359028332482245,
+            "max_source_upright_tilt_deg": 89.75421097152814,
+            "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": 3.1303325389756913,
+            "source_upright_return_tilt_deg": 3.2359028332482245,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.397987559733206e-07,
+            "max_target_xy_drift": 6.288572503927109e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2144,
+                0.3094,
+                0.7566
+              ],
+              "controller_target_position": [
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+                0.3094,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0001,
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+                0.4
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+                0.2,
+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+                  0.0001132017431277289,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.2358946245015683,
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+              "wrist_compensated_return_position": -1.6175893545150757
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              -0.0
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0001,
+              0.0003
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.2843,
+              1.0221
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "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": [
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+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0010250241464250065,
+                0.0001132017431277289,
+                0.00028552048888511386
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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_a",
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+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3024555272224849,
+              -0.32828030600768254,
+              0.8470194778418116
+            ],
+            "target_position": [
+              0.29432631649942803,
+              -0.3297240735752106,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008256423666994629,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18616138514504493,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194778418116,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532477362753204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0872152709470657,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15497260825864026,
+            "release_required_pad_clearance": 0.05360763547353285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2244708346683657,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007605135440826416,
+            "max_z_decrease": 0.007605135440826416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513773323305365,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007605135440826416,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021043941331355526,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007605135440826416,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007605610504587877,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15002624690532687,
+              -0.3859855234622954,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15002624690532687,
+              -0.3859855234622954,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15164106954885345,
+              -0.38625944535041296,
+              0.8046945923527292
+            ],
+            "closest_button": [
+              0.14994017779827123,
+              -0.3859984874725341,
+              0.7695990204811096
+            ],
+            "closest_ee_minus_button": [
+              0.0017008917505822174,
+              -0.0002609578778788313,
+              0.0350955718716196
+            ],
+            "button_min_z_position": [
+              0.14994195103645327,
+              -0.3859964907169341,
+              0.7692037224769592
+            ],
+            "min_active_finger_to_button": 0.14417042381164988,
+            "closest_active_finger": [
+              0.010948538780212402,
+              -0.3693658709526062,
+              0.8107762932777405
+            ],
+            "closest_active_finger_button": [
+              0.15002313256263736,
+              -0.38599178194999684,
+              0.7766156792640686
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13907459378242495,
+              0.016625910997390636,
+              0.034160614013671875
+            ],
+            "min_contact_pad_to_button": 0.021043941331355526,
+            "closest_contact_pad": [
+              0.14994195103645327,
+              -0.3875147635627261,
+              0.7901928223700767
+            ],
+            "closest_contact_pad_button": [
+              0.14994195103645327,
+              -0.3859964907169341,
+              0.7692037224769592
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015182728457919792,
+              0.02098909989311748
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "154b58b2d1efc8f7c70e0a261a833ca58ac62ed1bb45b6aaac9aff72e1c16513",
+    "visual_seed": 1707138143238322882,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfb751d6d84dbe1a3af23c01149c708da48ccfa8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_29_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31697746048642605,
+              -0.07184974497867837,
+              1.0006905184449506
+            ],
+            "current_z": 1.0006905184449506,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1395840700348292,
+            "gripper_z": 1.0022906949251937,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3130087673735714,
+              -0.07608166184601627,
+              1.0022906949251937
+            ],
+            "object_minus_gripper": [
+              0.003968693112854638,
+              0.004231916867337898,
+              -0.0016001764802431317
+            ],
+            "object_to_gripper_xy": 0.0058016933214432185,
+            "object_to_gripper_z": -0.0016001764802431317,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31697746048642605,
+              -0.09565414277069723,
+              1.0006905184449506
+            ],
+            "finger_b": [
+              0.3062828569491608,
+              -0.07184974497867837,
+              1.0006905184449506
+            ],
+            "finger_midpoint": [
+              0.3116301587177934,
+              -0.08375194387468779,
+              1.0006905184449506
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053473017686326285,
+              0.011902198896009422,
+              0.0
+            ],
+            "finger_gap": 0.026096434604366146,
+            "fingertip_max_gap": 0.09300624816380779,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013048217302183068,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0006905184449506,
+            "object_top_z": 1.0506269160653505,
+            "finger_top_clearance": 0.04993639762039992,
+            "fingertip_min_top_clearance": 0.014980919286119975,
+            "object_projection_between_fingers": 0.8320550204226874,
+            "object_to_finger_line_xy": 0.009755301852092885,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049003124081903895,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.923391558781188,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "gripper",
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+                "joint1",
+                "joint2",
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+                "joint4",
+                "joint5",
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+                "left_inner_finger",
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+                "panda_joint1",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "defaultgroundplane",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+            "max_z_decrease_with_contact_point": 0.007511317729949951,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 5.960464477539063e-08,
+            "button_max_displacement": 0.00751181099789441,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1494398862123489,
+              -0.3945731222629547,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1494398862123489,
+              -0.3945731222629547,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.15147828195546068,
+              -0.3931472335359657,
+              0.8048857327333149
+            ],
+            "closest_button": [
+              0.14934685826301572,
+              -0.3945813477039337,
+              0.769788920879364
+            ],
+            "closest_ee_minus_button": [
+              0.002131423692444956,
+              0.0014341141679680147,
+              0.03509681185395086
+            ],
+            "button_min_z_position": [
+              0.14935411512851712,
+              -0.39458045363426203,
+              0.7692975401878357
+            ],
+            "min_active_finger_to_button": 0.14337391708412892,
+            "closest_active_finger": [
+              0.02519538253545761,
+              -0.4574830234050751,
+              0.8104886412620544
+            ],
+            "closest_active_finger_button": [
+              0.14943386614322662,
+              -0.39457687735557556,
+              0.7763756513595581
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12423848360776901,
+              -0.06290614604949951,
+              0.03411298990249634
+            ],
+            "min_contact_pad_to_button": 0.020997076651845803,
+            "closest_contact_pad": [
+              0.14935411512851712,
+              -0.39458045363426203,
+              0.7902946168396815
+            ],
+            "closest_contact_pad_button": [
+              0.14935411512851712,
+              -0.39458045363426203,
+              0.7692975401878357
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020997076651845803
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8435a839138845c8540246c1426d02442d5990b2357713821a1ea247a6f0b2c",
+    "visual_seed": 1217080557688951402,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d2acd48be63c2176a774b72b19d2dae9bea11f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_2_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3188194470391023,
+              -0.06798295146735532,
+              1.004517872991353
+            ],
+            "current_z": 1.004517872991353,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14341142458123202,
+            "gripper_z": 1.0054883321548875,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3147601421432591,
+              -0.07224585967729935,
+              1.0054883321548875
+            ],
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+              0.004059304895843219,
+              0.00426290820994403,
+              -0.0009704591635344428
+            ],
+            "object_to_gripper_xy": 0.005886454165609798,
+            "object_to_gripper_z": -0.0009704591635344428,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3188194470391023,
+              -0.09177014349613727,
+              1.004517872991353
+            ],
+            "finger_b": [
+              0.30796167229019594,
+              -0.06798295146735532,
+              1.004517872991353
+            ],
+            "finger_midpoint": [
+              0.3133905596646491,
+              -0.0798765474817463,
+              1.004517872991353
+            ],
+            "object_minus_finger_midpoint": [
+              0.005428887374453184,
+              0.01189359601439098,
+              0.0
+            ],
+            "finger_gap": 0.026148074061240843,
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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": 1.004517872991353,
+            "object_top_z": 1.0543539093804277,
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+            "fingertip_min_top_clearance": 0.014950810916722389,
+            "object_projection_between_fingers": 0.8275742027759727,
+            "object_to_finger_line_xy": 0.009877437716926786,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04907617248381756,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9854220613114606,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.3099829610649839,
+              0.7565865074085656
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+            "gripper_position": [
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+              0.28038488231285635,
+              1.0353205335417812
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+            "target_minus_gripper": [
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+              0.029598078752127555,
+              -0.27873402613321563
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+            "held_position": [
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+              0.28447741696003515,
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+            "held_minus_target": [
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+              0.27754911299442897
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+              0.004170729472605328,
+              0.0040925346471787916,
+              -0.0011849131387866585
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+            "xy_dist": 0.029732716287004652,
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+            "held_gripper_dist": 0.00596220121418984,
+            "max_held_gripper_dist": 0.005972547987015678,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565865074085656,
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+            "required_height": 0.7865865074085656,
+            "gripper_z": 1.0353205335417812,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.34699743970837,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 2.6558638790314766,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.721370677069653,
+            "max_source_tilt_deg": 89.96218337892473,
+            "source_upright_tilt_deg": 2.8329799554489763,
+            "max_source_upright_tilt_deg": 89.855992646447,
+            "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": 2.721370677069653,
+            "source_upright_return_tilt_deg": 2.8329799554489763,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.429369702178807e-08,
+            "max_target_xy_drift": 2.3324006561187697e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2159,
+                0.31,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2159,
+                0.31,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0019,
+                0.0012,
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+              "controller_last_pour_pose_position": [
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+                0.286,
+                1.023
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30756111945617426,
+              -0.3348251729732904,
+              0.8470201913217426
+            ],
+            "target_position": [
+              0.30009413960557707,
+              -0.3357488459807919,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075238926038328924,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18879083947578132,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201913217426,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540309192007741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08703908846562823,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15711269878777484,
+            "release_required_pad_clearance": 0.05351954423281412,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0482392138043206,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007763504981994629,
+            "max_z_decrease": 0.007763504981994629,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035082544521010096,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007763504981994629,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114782110391027,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007763504981994629,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00776396953133063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15579406917095184,
+              -0.39201030135154724,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15579406917095184,
+              -0.39201030135154724,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15498907002077028,
+              -0.39347859575205474,
+              0.8053184652969475
+            ],
+            "closest_button": [
+              0.15570491552352905,
+              -0.39202141761779785,
+              0.7702735066413879
+            ],
+            "closest_ee_minus_button": [
+              -0.0007158455027587718,
+              -0.0014571781342568868,
+              0.035044958655559566
+            ],
+            "button_min_z_position": [
+              0.15570993721485138,
+              -0.39202192425727844,
+              0.769045352935791
+            ],
+            "min_active_finger_to_button": 0.14647189935307917,
+            "closest_active_finger": [
+              0.014332637190818787,
+              -0.37549155950546265,
+              0.8108408451080322
+            ],
+            "closest_active_finger_button": [
+              0.15579290688037872,
+              -0.39201802015304565,
+              0.7766372561454773
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14146026968955994,
+              0.016526460647583008,
+              0.03420358896255493
+            ],
+            "min_contact_pad_to_button": 0.02114782110391027,
+            "closest_contact_pad": [
+              0.15570993721485138,
+              -0.3948516466690716,
+              0.7900030009077174
+            ],
+            "closest_contact_pad_button": [
+              0.15570993721485138,
+              -0.39202192425727844,
+              0.769045352935791
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002829722411793134,
+              0.02095764797192634
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a48348aa86afc3eb4a5753e5bbcfa99728aac4cbfe8b121d29808ee333144d02",
+    "visual_seed": 1662710971224859456,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7d64d0a232947f2e33fcc160598ae7d42e9b5cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_31_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007494151592254639,
+            "max_z_decrease": 0.007494151592254639,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511060753636157,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007494151592254639,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020968318944509456,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007494151592254639,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007494756957714364,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1503911018371582,
+              -0.39393922686576843,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1503911018371582,
+              -0.39393922686576843,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15043370543976103,
+              -0.3923393319019685,
+              0.8051515989277827
+            ],
+            "closest_button": [
+              0.15028512477874753,
+              -0.39395716786384577,
+              0.7700785994529724
+            ],
+            "closest_ee_minus_button": [
+              0.0001485806610135032,
+              0.0016178359618772564,
+              0.03507299947481024
+            ],
+            "button_min_z_position": [
+              0.15029653906822205,
+              -0.39395070075988764,
+              0.769314706325531
+            ],
+            "min_active_finger_to_button": 0.14500028026017048,
+            "closest_active_finger": [
+              0.022669605910778046,
+              -0.45353785157203674,
+              0.8103322386741638
+            ],
+            "closest_active_finger_button": [
+              0.15038606524467465,
+              -0.39394518733024597,
+              0.7762396931648254
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277164593338966,
+              -0.05959266424179077,
+              0.03409254550933838
+            ],
+            "min_contact_pad_to_button": 0.020968318944509456,
+            "closest_contact_pad": [
+              0.15029653906822205,
+              -0.39395070075988764,
+              0.7902830252700405
+            ],
+            "closest_contact_pad_button": [
+              0.15029653906822205,
+              -0.39395070075988764,
+              0.769314706325531
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020968318944509456
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7522af41b524d97e1d026908b261c791d9191f88d8f8913fbf13b960f2d3062c",
+    "visual_seed": 5821277605990128049,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa8768c2402926a9857272304baa98cf6dcdb7eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_32_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31213526085692084,
+              -0.07234089002282709,
+              1.004164274980344
+            ],
+            "current_z": 1.004164274980344,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14305776696557815,
+            "gripper_z": 1.0054529666536345,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30812024898029333,
+              -0.0764479128860374,
+              1.0054529666536345
+            ],
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+              0.004015011876627506,
+              0.004107022863210311,
+              -0.0012886916732903764
+            ],
+            "object_to_gripper_xy": 0.005743514356941414,
+            "object_to_gripper_z": -0.0012886916732903764,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31213526085692084,
+              -0.09636164476185942,
+              1.004164274980344
+            ],
+            "finger_b": [
+              0.3018230609048187,
+              -0.07234089002282709,
+              1.004164274980344
+            ],
+            "finger_midpoint": [
+              0.30697916088086974,
+              -0.08435126739234325,
+              1.004164274980344
+            ],
+            "object_minus_finger_midpoint": [
+              0.005156099976051098,
+              0.012010377369516156,
+              0.0
+            ],
+            "finger_gap": 0.026140736907839447,
+            "fingertip_max_gap": 0.09287992458627534,
+            "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": 1.004164274980344,
+            "object_top_z": 1.0541800668534422,
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+            "fingertip_min_top_clearance": 0.015004737561929438,
+            "object_projection_between_fingers": 0.8443794312174432,
+            "object_to_finger_line_xy": 0.009475892999597122,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04893996229313767,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4228912188871816,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.21844310183186133,
+              0.30960736239593184,
+              0.7565865074085656
+            ],
+            "gripper_position": [
+              0.22185361393911304,
+              0.27764052380037174,
+              1.0347532484219282
+            ],
+            "target_minus_gripper": [
+              -0.003410512107251712,
+              0.0319668385955601,
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39219ace1cfcf24dc7c892aabd51517c913b47f55cee53e794bde4fb7d49202b",
+    "visual_seed": 3602309436781875171,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b572201231de9e2f36b88de8618edf3a45a1bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_33_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3189461261125476,
+              -0.0670500968334374,
+              1.0019095406239142
+            ],
+            "current_z": 1.0019095406239142,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14080309221379306,
+            "gripper_z": 1.0035367579256824,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.314687877212097,
+              -0.07131026535101703,
+              1.0035367579256824
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+              0.0042582489004505675,
+              0.004260168517579627,
+              -0.0016272173017681801
+            ],
+            "object_to_gripper_xy": 0.006023430874208242,
+            "object_to_gripper_z": -0.0016272173017681801,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3189461261125476,
+              -0.0911962608763401,
+              1.0019095406239142
+            ],
+            "finger_b": [
+              0.3083793744177974,
+              -0.0670500968334374,
+              1.0019095406239142
+            ],
+            "finger_midpoint": [
+              0.3136627502651725,
+              -0.07912317885488876,
+              1.0019095406239142
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+            "object_minus_finger_midpoint": [
+              0.005283375847375094,
+              0.012073082021451353,
+              0.0
+            ],
+            "finger_gap": 0.02635703851659501,
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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": 0.009680394087575945,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876507198575726,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.21200253684181775,
+              0.3094718810383574,
+              0.7565865074085656
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+            "gripper_position": [
+              0.21631030421102854,
+              0.27956367935888493,
+              1.0336550285904653
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+            "target_minus_gripper": [
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+              0.029908201679472446,
+              -0.27706852118189973
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+            "held_position": [
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+              0.283680609482428,
+              1.0317402994818137
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+            "held_minus_target": [
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+              -0.025791271555929363,
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+            "held_minus_gripper": [
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+              0.004116930123543083,
+              -0.0019147291086516471
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+            "xy_dist": 0.030216839467542528,
+            "held_xy_dist": 0.02718567416269878,
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+            "max_held_gripper_dist": 0.0062721205110353945,
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+            "missing_held_position_samples": 0,
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+            "target_z": 0.7565865074085656,
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+            "gripper_z": 1.0336550285904653,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.39764329240403,
+            "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_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8922694208492845,
+            "max_source_tilt_deg": 89.72754205952775,
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+            "max_source_upright_tilt_deg": 89.95613790486934,
+            "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": 2.8922694208492845,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0745380149674383e-07,
+            "max_target_xy_drift": 1.744136200952474e-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": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.3095,
+                0.7566
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+              "controller_target_position": [
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+                0.3095,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0009
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+              "controller_last_pour_pose_position": [
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+                1.0209
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.2,
+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.8841335601368834,
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+              "wrist_compensated_return_position": -1.6173349618911743
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0209
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
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+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30641872052631236,
+              -0.3334241297487842,
+              0.8470195835108791
+            ],
+            "target_position": [
+              0.2998761206138734,
+              -0.33396194212716523,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006564667224512289,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867217875272946,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195835108791,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751921666437803,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641630016287703,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1555843177611282,
+            "release_required_pad_clearance": 0.05320815008143852,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4385542920034018,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00764232873916626,
+            "max_z_decrease": 0.00764232873916626,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509061840385847,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00764232873916626,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020981553565946623,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00764232873916626,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007642924657101128,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15557605028152466,
+              -0.3902234137058258,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15557605028152466,
+              -0.3902234137058258,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15624584607302125,
+              -0.3892202913969529,
+              0.8042340974966862
+            ],
+            "closest_button": [
+              0.1554815322160721,
+              -0.3902366459369659,
+              0.7691665291786194
+            ],
+            "closest_ee_minus_button": [
+              0.0007643138569491392,
+              0.0010163545400129759,
+              0.03506756831806679
+            ],
+            "button_min_z_position": [
+              0.1554815322160721,
+              -0.3902366459369659,
+              0.7691665291786194
+            ],
+            "min_active_finger_to_button": 0.1447188661747199,
+            "closest_active_finger": [
+              0.028680704534053802,
+              -0.4508587419986725,
+              0.8102614879608154
+            ],
+            "closest_active_finger_button": [
+              0.15557515621185303,
+              -0.3902322351932525,
+              0.7761180400848389
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12689445167779922,
+              -0.06062650680541998,
+              0.03414344787597656
+            ],
+            "min_contact_pad_to_button": 0.020981553565946623,
+            "closest_contact_pad": [
+              0.1554815322160721,
+              -0.3905306506508043,
+              0.7901460227680492
+            ],
+            "closest_contact_pad_button": [
+              0.1554815322160721,
+              -0.3902366459369659,
+              0.7691665291786194
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00029400471383839166,
+              0.020979493589429854
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba9e83d455a84246c9eaf12d898b4b61a94b44d03de07080a7a87077817b9ebb",
+    "visual_seed": 7564390971368809311,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41b472d397142f631ece1a621565f48c0e2b8e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_34_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              1.0013185912235407
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+            "current_z": 1.0013185912235407,
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+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.1402122024180643,
+            "gripper_z": 1.0028299244796766,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3105162296323767,
+              -0.07931121531786745,
+              1.0028299244796766
+            ],
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+              0.003921384535468919,
+              0.004115138934554022,
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+            "object_to_gripper_xy": 0.005684331546074455,
+            "object_to_gripper_z": -0.0015113332561358384,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3144376141678456,
+              -0.09901817355237755,
+              1.0013185912235407
+            ],
+            "finger_b": [
+              0.3039587370676557,
+              -0.07519607638331342,
+              1.0013185912235407
+            ],
+            "finger_midpoint": [
+              0.30919817561775065,
+              -0.08710712496784548,
+              1.0013185912235407
+            ],
+            "object_minus_finger_midpoint": [
+              0.005239438550094955,
+              0.011911048584532055,
+              0.0
+            ],
+            "finger_gap": 0.02602497221541682,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0013185912235407,
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+            "finger_top_clearance": 0.04992398749665172,
+            "fingertip_min_top_clearance": 0.0149771962489955,
+            "object_projection_between_fingers": 0.8378753899077641,
+            "object_to_finger_line_xy": 0.00959189606187278,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049344757718570734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.338795450969479,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
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+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007546722888946533,
+            "max_z_decrease": 0.007546722888946533,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506726644040949,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007546722888946533,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02096535193430622,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007546722888946533,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007547562489789758,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15551343560218805,
+              -0.38860929012298584,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15551343560218805,
+              -0.38860929012298584,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15609656087731494,
+              -0.38854148564543767,
+              0.8043224238240555
+            ],
+            "closest_button": [
+              0.1554023772478103,
+              -0.38862770795822144,
+              0.7692621350288391
+            ],
+            "closest_ee_minus_button": [
+              0.00069418362950463,
+              8.622231278376802e-05,
+              0.03506028879521639
+            ],
+            "button_min_z_position": [
+              0.1554023772478103,
+              -0.38862770795822144,
+              0.7692621350288391
+            ],
+            "min_active_finger_to_button": 0.1451688628759237,
+            "closest_active_finger": [
+              0.029639512300491333,
+              -0.45240044593811035,
+              0.8103339672088623
+            ],
+            "closest_active_finger_button": [
+              0.15550811588764182,
+              -0.3886144161224365,
+              0.7762394547462463
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258686035871505,
+              -0.06378602981567383,
+              0.03409451246261597
+            ],
+            "min_contact_pad_to_button": 0.02096535193430622,
+            "closest_contact_pad": [
+              0.1554023772478103,
+              -0.38963163526126277,
+              0.7902034366048999
+            ],
+            "closest_contact_pad_button": [
+              0.1554023772478103,
+              -0.38862770795822144,
+              0.7692621350288391
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010039273030413298,
+              0.020941301576060778
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11823c9076d9ea760ce3792784b870744499e1a8af58a0d29f7a91bbcfeab44c",
+    "visual_seed": 6458354762594882573,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e635c898e9d91e5202f3e8232f1df10a6d05685
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_35_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3152760676423988,
+              -0.07772468978233794,
+              1.0041318924113223
+            ],
+            "current_z": 1.0041318924113223,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.14302550360584598,
+            "gripper_z": 1.0059316162139411,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3110506611740204,
+              -0.08194310211714158,
+              1.0059316162139411
+            ],
+            "object_minus_gripper": [
+              0.004225406468378379,
+              0.004218412334803634,
+              -0.0017997238026188356
+            ],
+            "object_to_gripper_xy": 0.005970683583094761,
+            "object_to_gripper_z": -0.0017997238026188356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3152760676423988,
+              -0.10188346105771708,
+              1.0041318924113223
+            ],
+            "finger_b": [
+              0.30482367953619915,
+              -0.07772468978233794,
+              1.0041318924113223
+            ],
+            "finger_midpoint": [
+              0.310049873589299,
+              -0.08980407542002751,
+              1.0041318924113223
+            ],
+            "object_minus_finger_midpoint": [
+              0.00522619405309982,
+              0.012079385637689566,
+              0.0
+            ],
+            "finger_gap": 0.026322968044251917,
+            "fingertip_max_gap": 0.09329048862972736,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013161484022125958,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0041318924113223,
+            "object_top_z": 1.0540624781966086,
+            "finger_top_clearance": 0.04993058578528631,
+            "fingertip_min_top_clearance": 0.014979175735585925,
+            "object_projection_between_fingers": 0.8423255440756594,
+            "object_to_finger_line_xy": 0.009593023595008769,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04914524431486368,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9568312374461545,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.21207956094402874,
+              0.31079462731521285,
+              0.7565863285946313
+            ],
+            "gripper_position": [
+              0.21522914991965444,
+              0.27874939640377455,
+              1.0340118247103038
+            ],
+            "target_minus_gripper": [
+              -0.0031495889756257,
+              0.032045230911438294,
+              -0.2774254961156726
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+            "held_position": [
+              0.21951399117537992,
+              0.28278948050923314,
+              1.0319079641974276
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+            "held_minus_target": [
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+              -0.028005146805979708,
+              0.2753216356027963
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+            "held_minus_gripper": [
+              0.00428484125572548,
+              0.004040084105458586,
+              -0.0021038605128762544
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+            "xy_dist": 0.03219963873838934,
+            "held_xy_dist": 0.028975144529222004,
+            "held_gripper_dist": 0.0062536687810905165,
+            "max_held_gripper_dist": 0.006282641389752583,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
+            "held_z": 1.0319079641974276,
+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0340118247103038,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.39623627343501,
+            "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": 3.7821624309875395,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8124312819874775,
+            "max_source_tilt_deg": 89.54730784950976,
+            "source_upright_tilt_deg": 1.8668110304280818,
+            "max_source_upright_tilt_deg": 89.92430832284383,
+            "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": 2.8124312819874775,
+            "source_upright_return_tilt_deg": 1.8668110304280818,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.424321830774485e-08,
+            "max_target_xy_drift": 1.1340557092690734e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
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+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bf1f3e84e3a7a4557a164bfb18112af6fa8073a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_3_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+              -0.07150802087642595,
+              1.0009844809074222
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+              -0.07570272236090275,
+              1.0026232192348135
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+              0.004194701484476801,
+              -0.0016387383273912537
+            ],
+            "object_to_gripper_xy": 0.005843586775824721,
+            "object_to_gripper_z": -0.0016387383273912537,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31803738608891036,
+              -0.0954261031447781,
+              1.0009844809074222
+            ],
+            "finger_b": [
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+              -0.07150802087642595,
+              1.0009844809074222
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+            "finger_midpoint": [
+              0.3127394942078416,
+              -0.08346706201060203,
+              1.0009844809074222
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+            "object_minus_finger_midpoint": [
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+              0.011959041134176077,
+              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_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 166,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "target_position": [
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+              0.3049618061844603,
+              0.7565864478039209
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+              0.2747169647744587,
+              1.0337755502533397
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+            "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": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "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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+            "release_finger_gap": 0.07581160474658587,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867286286762594,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153663412527005,
+            "release_required_pad_clearance": 0.0533643143381297,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7440071012449476,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075893402099609375,
+            "max_z_decrease": 0.0075893402099609375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511464753238487,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075893402099609375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.020974572515973677,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075893402099609375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007589721521211466,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15729346871376032,
+              -0.38883528113365173,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15729346871376032,
+              -0.38883528113365173,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1573638554990912,
+              -0.3869840931413236,
+              0.8043731962864445
+            ],
+            "closest_button": [
+              0.157192125916481,
+              -0.3888475298881531,
+              0.7693084478378296
+            ],
+            "closest_ee_minus_button": [
+              0.00017172958261021942,
+              0.0018634367468294832,
+              0.03506474844861496
+            ],
+            "button_min_z_position": [
+              0.15721800923347468,
+              -0.3888449668884277,
+              0.7692195177078247
+            ],
+            "min_active_finger_to_button": 0.14488308213521575,
+            "closest_active_finger": [
+              0.029931113123893738,
+              -0.4488869905471802,
+              0.810916543006897
+            ],
+            "closest_active_finger_button": [
+              0.15729251503944391,
+              -0.3888400197029113,
+              0.7767911553382874
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12736140191555018,
+              -0.060046970844268854,
+              0.03412538766860962
+            ],
+            "min_contact_pad_to_button": 0.020974572515973677,
+            "closest_contact_pad": [
+              0.157192125916481,
+              -0.3888475298881531,
+              0.7902830203538033
+            ],
+            "closest_contact_pad_button": [
+              0.157192125916481,
+              -0.3888475298881531,
+              0.7693084478378296
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020974572515973677
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f0056b5df777736fc776ee5377366a73a8939162b5f49324a537f7279509e98",
+    "visual_seed": 353235166438131872,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d4e13db371264e71b177ff298cc7b291d50835b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_40_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31147801936832575,
+              -0.07801646950264392,
+              1.0011743056244422
+            ],
+            "current_z": 1.0011743056244422,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14006779760967614,
+            "gripper_z": 1.0028199101909665,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30776962874641367,
+              -0.08212743660778467,
+              1.0028199101909665
+            ],
+            "object_minus_gripper": [
+              0.0037083906219120832,
+              0.00411096710514075,
+              -0.0016456045665242947
+            ],
+            "object_to_gripper_xy": 0.005536443943925993,
+            "object_to_gripper_z": -0.0016456045665242947,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31147801936832575,
+              -0.1014682059913833,
+              1.0011743056244422
+            ],
+            "finger_b": [
+              0.3007385704899815,
+              -0.07801646950264392,
+              1.0011743056244422
+            ],
+            "finger_midpoint": [
+              0.3061082949291536,
+              -0.08974233774701361,
+              1.0011743056244422
+            ],
+            "object_minus_finger_midpoint": [
+              0.005369724439172163,
+              0.011725868244369692,
+              0.0
+            ],
+            "finger_gap": 0.025793792015673854,
+            "fingertip_max_gap": 0.09375260208064032,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01289689600783694,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0011743056244422,
+            "object_top_z": 1.0511651855450408,
+            "finger_top_clearance": 0.049990879920598585,
+            "fingertip_min_top_clearance": 0.014997263976179558,
+            "object_projection_between_fingers": 0.8266461055106644,
+            "object_to_finger_line_xy": 0.009764315575475422,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04937630104032016,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2617402139446465,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+  },
+  "collection_episode_index": 41,
+  "collection_result_filename": "episode_41_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f93088e56540694d119ba43ef3518e2aee80c376
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_41_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
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+                "panda_rightfingertip",
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                "mobile_translate_y",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
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+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "wrist_2_joint",
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+                "joint1",
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+                "joint3",
+                "joint4",
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+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+                "wrist_2_joint",
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+    "forbidden_shortcuts_absent": true
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+    "visual_seed": 6619754107069835173,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+  },
+  "collection_episode_index": 42,
+  "collection_result_filename": "episode_42_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2365cfbae7a14aa3a7a9dec069cbcaff7d540796
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_45_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+  "collection_result_filename": "episode_46_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48d2b7d0bec73b163aaab0b10fc350edb863b666
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_46_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_47_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4ecc689e6dcfdfa15ccd378c4ed1094816947ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_47_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 48,
+  "collection_result_filename": "episode_48_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5abfbd52e1d2aeb51c1cf2dc718174ce068a842
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_48_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "left_inner_finger",
+                "lift2",
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
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+    "visual_seed": 5814360922304882201,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+  },
+  "collection_episode_index": 49,
+  "collection_result_filename": "episode_49_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de943c5abe61d94532f4be46ff0e79ae7c3ec56e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_4_success.json
@@ -0,0 +1,1682 @@
+{
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+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+            "required_stable_lift_frames": 5
+          },
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+          "failure_messages": {},
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+              "allowed_objects": [
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30418608518851875,
+              -0.32978272997981145,
+              0.8470195573126075
+            ],
+            "target_position": [
+              0.29571610936006154,
+              -0.33125021470691784,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008596162048201506,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18731045548128067,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195573126075,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529930538939628,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546101870626997,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15602844745036853,
+            "release_required_pad_clearance": 0.05273050935313499,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5128172140957505,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007785439491271973,
+            "max_z_decrease": 0.007785439491271973,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035168904668892255,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007785439491271973,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021120835380100164,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007785439491271973,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077859912576071924,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15141603350639338,
+              -0.3875116705894469,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15141603350639338,
+              -0.3875116705894469,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15349491994825315,
+              -0.3889600672905756,
+              0.8050518677213514
+            ],
+            "closest_button": [
+              0.15131901204586024,
+              -0.3875243067741393,
+              0.76997971534729
+            ],
+            "closest_ee_minus_button": [
+              0.002175907902392915,
+              -0.0014357605164362908,
+              0.03507215237406136
+            ],
+            "button_min_z_position": [
+              0.1513236761093139,
+              -0.3875195384025573,
+              0.7690234184265137
+            ],
+            "min_active_finger_to_button": 0.1437098477503002,
+            "closest_active_finger": [
+              0.012361384928226471,
+              -0.37535175681114197,
+              0.8106741309165955
+            ],
+            "closest_active_finger_button": [
+              0.15141288936138148,
+              -0.38751488924026484,
+              0.7764797210693359
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139051504433155,
+              0.01216313242912287,
+              0.03419440984725952
+            ],
+            "min_contact_pad_to_button": 0.021120835380100164,
+            "closest_contact_pad": [
+              0.1513236761093139,
+              -0.38994257396813514,
+              0.7900048050775726
+            ],
+            "closest_contact_pad_button": [
+              0.1513236761093139,
+              -0.3875195384025573,
+              0.7690234184265137
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024230355655778246,
+              0.020981386651058975
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7b82cb1ea459961c43670896ae0019a9b2568fc88708d8181bc46006be25fcc",
+    "visual_seed": 6944566930565179629,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f93dec8c76b547ed34ba84f8ed4efd82752592e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_50_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3162818980588168,
+              -0.07459066755840435,
+              1.0045051139400996
+            ],
+            "current_z": 1.0045051139400996,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.1433986655299786,
+            "gripper_z": 1.005777752038124,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31219180823078974,
+              -0.07880650186794708,
+              1.005777752038124
+            ],
+            "object_minus_gripper": [
+              0.004090089828027055,
+              0.004215834309542726,
+              -0.001272638098024359
+            ],
+            "object_to_gripper_xy": 0.005873848289396652,
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+  "collection_result_filename": "episode_51_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9faef16c9b466fc992e79c0595a107acf04da2e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_51_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_52_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22a86b1a136cef68ba9cfd5d7ab4a97c36cacb27
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_52_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_53_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5e4ed0f04b79a0487668495b6ee41bbe178c574
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_53_success.json
@@ -0,0 +1,1684 @@
+{
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+                "split_aloha",
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+  },
+  "collection_episode_index": 54,
+  "collection_result_filename": "episode_54_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85247bb9b25d9576e1b24cbcae6dc01c68f844a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_56_success.json
@@ -0,0 +1,1684 @@
+{
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+  "passed_steps": 6,
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+  "collection_result_filename": "episode_57_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63548e48cb51ef5a9ab2cf8c84614151b6aa86fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_58_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 58,
+  "success": true,
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+  "collection_result_filename": "episode_59_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d46e31ee504eacc93ece6932c079068645054089
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_59_success.json
@@ -0,0 +1,1684 @@
+{
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+    "physical_randomization_enabled": true,
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+  },
+  "collection_episode_index": 60,
+  "collection_result_filename": "episode_60_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7279be7f0f5b1f8c75db1b799160cb201c0bc65
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_5_success.json
@@ -0,0 +1,1682 @@
+{
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+  "passed_steps": 6,
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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",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30349890293236725,
+              -0.32980310387148154,
+              0.8470195900977638
+            ],
+            "target_position": [
+              0.2959108644462309,
+              -0.33064553980255357,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007634659544802765,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1876949343940615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195900977638,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524250280392898,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869057715724915,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15641756935178705,
+            "release_required_pad_clearance": 0.053452885786245755,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9192153880798506,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00769650936126709,
+            "max_z_decrease": 0.00769650936126709,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350746157317767,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00769650936126709,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021074626699358456,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00769650936126709,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007697279017220213,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15161079168319702,
+              -0.386907011270523,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15161079168319702,
+              -0.386907011270523,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15170358998425476,
+              -0.3879483623232247,
+              0.80417133362087
+            ],
+            "closest_button": [
+              0.1515028178691864,
+              -0.38692077994346613,
+              0.7691123485565186
+            ],
+            "closest_ee_minus_button": [
+              0.00020077211506835946,
+              -0.0010275823797585848,
+              0.035058985064351456
+            ],
+            "button_min_z_position": [
+              0.1515028178691864,
+              -0.38692077994346613,
+              0.7691123485565186
+            ],
+            "min_active_finger_to_button": 0.14553237679861805,
+            "closest_active_finger": [
+              0.011003322899341583,
+              -0.37130460143089294,
+              0.8105835318565369
+            ],
+            "closest_active_finger_button": [
+              0.15160542726516724,
+              -0.38691419363021845,
+              0.7764212489128113
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14060210436582565,
+              0.015609592199325506,
+              0.034162282943725586
+            ],
+            "min_contact_pad_to_button": 0.021074626699358456,
+            "closest_contact_pad": [
+              0.1515028178691864,
+              -0.3891760879134851,
+              0.7900659515039279
+            ],
+            "closest_contact_pad_button": [
+              0.1515028178691864,
+              -0.38692077994346613,
+              0.7691123485565186
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022553079700189937,
+              0.020953602947409333
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5fcda5f0d31ebd78770d122870b683440ff2974ef461b2082a7e63d5af198b02",
+    "visual_seed": 8866971294094790642,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac5f36b43f7aaee8ebf759a2f2c6a62c660e31cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_60_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31763497802464874,
+              -0.07242737006345837,
+              1.001671271628572
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+            "current_z": 1.001671271628572,
+            "required_z": 0.8611065676194111,
+            "initial_z": 0.7611065676194111,
+            "lift_margin": 0.140564704009161,
+            "gripper_z": 1.0032144202091984,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3134532074012415,
+              -0.07666611611281474,
+              1.0032144202091984
+            ],
+            "object_minus_gripper": [
+              0.004181770623407244,
+              0.004238746049356368,
+              -0.001543148580626319
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+            "object_to_gripper_xy": 0.005954340737455829,
+            "object_to_gripper_z": -0.001543148580626319,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31763497802464874,
+              -0.0964568134853839,
+              1.001671271628572
+            ],
+            "finger_b": [
+              0.30701679261920534,
+              -0.07242737006345837,
+              1.001671271628572
+            ],
+            "finger_midpoint": [
+              0.31232588532192707,
+              -0.08444209177442114,
+              1.001671271628572
+            ],
+            "object_minus_finger_midpoint": [
+              0.005309092702721674,
+              0.012014721710962767,
+              0.0
+            ],
+            "finger_gap": 0.02627089668191574,
+            "fingertip_max_gap": 0.09286503460398252,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01313544834095786,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.001671271628572,
+            "object_top_z": 1.0514310635059718,
+            "finger_top_clearance": 0.04975979187739976,
+            "fingertip_min_top_clearance": 0.014927937563219928,
+            "object_projection_between_fingers": 0.8366380849847294,
+            "object_to_finger_line_xy": 0.009712233599519888,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04893251730199126,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8334387699130392,
+            "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",
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+  "collection_result_filename": "episode_61_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b48a0399071e143be4f02c40993bbe68e856733b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_61_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..392c51635e0642d941c7139063af3afbee3ea85a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_65_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
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+  "collection_result_filename": "episode_66_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bad3a7bd96a2586ca80df26930b7a7e9ba60e800
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_66_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+  },
+  "collection_episode_index": 67,
+  "collection_result_filename": "episode_67_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..772e16759e8d0d24e4010e60b7dca6a14a868c39
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_67_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_68_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f6497b168f05d64e5dfbb7fc9af7a3827ce98c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_68_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
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+  "collection_result_filename": "episode_69_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0745753fd49f949bfcaa06c6e6f2d9a18b48cf1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_6_success.json
@@ -0,0 +1,1682 @@
+{
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+                "robotiq_2f85",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "workflow_spec_digest": "c1ae4b28dcf5aa2f318b1b31824f6300067078642b57f8f4cf20b163499a5602",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a7ef8c537d23fb6d645dcee3ab12416b98dbd97f24e3482e5812599b36e5dd41",
+    "visual_seed": 3923063053501874095,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677
+    ],
+    "runtime_workflow_digest": "4ba192a120fa3545a4caae0d513d69e5f1c0fcd550d11f6497c8303f4b394680"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e93ec881948edc0b4c1c385c6e35ae09a26e93eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_71_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.0030375228250505
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+            "gripper_position": [
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+              -0.07978890237581691,
+              1.0041170038419922
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+              0.004262695642597722,
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+              -0.07552620673321919,
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+              -0.08733949516657447,
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+              0.011813288433355273,
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "target_position": [
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+              0.27852067004527453,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "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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+  },
+  "collection_episode_index": 72,
+  "collection_result_filename": "episode_72_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..adda60c8618aabe561f810a15136210919c47f1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_74_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+                "gripper",
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+                "left_inner_finger",
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+                "mobile_translate_y",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "wrist_2_joint",
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+  },
+  "collection_episode_index": 75,
+  "collection_result_filename": "episode_75_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b387205a230b643a1272d598f03f48c8de7c3f4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_75_success.json
@@ -0,0 +1,1684 @@
+{
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+  "passed_steps": 6,
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+  "collection_result_filename": "episode_76_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2822b99f437ee7946603c38d0bb4d909b74b671
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_76_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_77_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97483a7b047c5a492024b014db34fd8cbd9247b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_77_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 78,
+  "collection_result_filename": "episode_78_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..271396c444ec58c500291fd60eba87e0ac44392e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_78_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_79_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4ee662c57ea731e924b3d07b4cc9e96eccff1fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_79_success.json
@@ -0,0 +1,1684 @@
+{
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+                "fr3_leftfinger",
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+                "panda_joint6",
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+                "panda_leftfinger",
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+                "panda_rightfinger",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "right_inner_finger",
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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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+                "ground",
+                "groundplane",
+                "link0",
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+  },
+  "collection_episode_index": 80,
+  "collection_result_filename": "episode_80_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b16a050f511e5fc79e941849fa018bb698c68f42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_80_success.json
@@ -0,0 +1,1684 @@
+{
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+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f74e67c6d2f655ff10624ad9e6a5a8ff41b6bbdb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_82_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
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+  },
+  "collection_episode_index": 83,
+  "collection_result_filename": "episode_83_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f14652f3f59b71f0a09c8b8b3f68d53d432c9d37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_83_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+                "robotiq_2f85",
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+  },
+  "collection_episode_index": 84,
+  "collection_result_filename": "episode_84_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a5ae8b235a0b91a0b596bbcfd25888b96713a81
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_85_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
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+  "collection_result_filename": "episode_86_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bb6138ae2fbcb28491fb6e2a2347bed135b9954
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_86_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 87,
+  "collection_result_filename": "episode_87_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..969e4ba380b971f82e3d153ec4100ac4dea0f802
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_87_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_episode_index": 88,
+  "collection_result_filename": "episode_88_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc9e77fbc25b2631d9b385573793c33a286551a7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_88_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_89_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3deeff20c318f8ae9845c78138e6d5ac03cd6646
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_90_success.json
@@ -0,0 +1,1684 @@
+{
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+  "success": true,
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+  },
+  "collection_episode_index": 91,
+  "collection_result_filename": "episode_91_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b4e1d1b5d57fbd318eb8ec1607276dda6c7ea8a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_92_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 93,
+  "collection_result_filename": "episode_93_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76af353bac74d3af4f0460de5a5c3d35274bd899
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_94_success.json
@@ -0,0 +1,1684 @@
+{
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+  "collection_result_filename": "episode_95_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f024680bb0039f3f9ad36b5d495e59ec02d0aad5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_95_success.json
@@ -0,0 +1,1684 @@
+{
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+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de6bd0ca7ffe785a77585f116b3c748d97df640c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_96_success.json
@@ -0,0 +1,1684 @@
+{
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+  },
+  "collection_episode_index": 97,
+  "collection_result_filename": "episode_97_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22cf0eecca7b6951d45146190be0936fc33c2b53
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_98_success.json
@@ -0,0 +1,1684 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+  },
+  "collection_episode_index": 99,
+  "collection_result_filename": "episode_99_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ed4092a41a68bb059f8c30b34f606a19b13af00
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/episode_9_success.json
@@ -0,0 +1,1682 @@
+{
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+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
+                "ur5e",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+    "forbidden_shortcuts_absent": true
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+    "strict_task_state": false,
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+    "visual_seed": 4208286095588969811,
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
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+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00007/results/summary.json
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@@ -0,0 +1,9 @@
+{
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+  "case": "lab3_heat_2beaker_s06_polplr_htf_00007",
+  "family": "lab3_v1",
+  "published_episodes": 65,
+  "published_successes": 65,
+  "published_failures": 0,
+  "matched_success_results": 65
+}
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69ed73ea66ab0b077337a955ad9077313f2077c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..54ed8302e195b2d5a6e8d7527ef6bbff27ce43f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/resolved_config.yaml
@@ -0,0 +1,318 @@
+name: lab3_heat_2beaker_s06_polplr_htf_00008
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into beaker b and
+    return it upright. Place beaker a at home. Pick up beaker b from home. Place beaker
+    b on the heater platform. Press the heater button to start heating.
+  layout_id: layout_00008
+  reproducibility:
+    enabled: true
+    layout_id: layout_00008
+    action_seed: 256126101476888679
+    step_seeds:
+    - 311217257694147886
+    - 3018262179648942721
+    - 2316423958212659800
+    - 9104040522929253704
+    - 6368823502811198725
+    - 1704462229908125271
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2102
+      - 0.2102
+      'y':
+      - 0.2956
+      - 0.2956
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2173
+      - 0.2173
+      'y':
+      - -0.0203
+      - -0.0203
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3518
+      - 0.3518
+      'y':
+      - 0.1319
+      - 0.1319
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2142
+      - 0.2142
+      'y':
+      - -0.379
+      - -0.379
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..51564b50492ef8a9ce8026423e62af7ad62c3614
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_0_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2356613939241963,
+              0.2986696753651507,
+              1.0018356145339027
+            ],
+            "current_z": 1.0018356145339027,
+            "required_z": 0.8611065735701959,
+            "initial_z": 0.761106573570196,
+            "lift_margin": 0.14072904096370675,
+            "gripper_z": 1.0032804880730626,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23028069478889324,
+              0.29364462211219344,
+              1.0032804880730626
+            ],
+            "object_minus_gripper": [
+              0.005380699135303063,
+              0.005025053252957268,
+              -0.0014448735391598966
+            ],
+            "object_to_gripper_xy": 0.007362274334722087,
+            "object_to_gripper_z": -0.0014448735391598966,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2356613939241963,
+              0.2739644257745134,
+              1.0018356145339027
+            ],
+            "finger_b": [
+              0.22362315523159568,
+              0.2986696753651507,
+              1.0018356145339027
+            ],
+            "finger_midpoint": [
+              0.229642274577896,
+              0.28631705056983203,
+              1.0018356145339027
+            ],
+            "object_minus_finger_midpoint": [
+              0.006019119346300311,
+              0.012352624795318679,
+              0.0
+            ],
+            "finger_gap": 0.02748214962763487,
+            "fingertip_max_gap": 0.09076981934709796,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013741074813817459,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0018356145339027,
+            "object_top_z": 1.0519567844992812,
+            "finger_top_clearance": 0.05012116996537852,
+            "fingertip_min_top_clearance": 0.015036350989613539,
+            "object_projection_between_fingers": 0.8081223014331729,
+            "object_to_finger_line_xy": 0.010821849657397426,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047884909673548984,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.17512050775753565,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23730101306099494,
+              -0.016502065562794977,
+              0.7565862689899865
+            ],
+            "gripper_position": [
+              0.2454659536927731,
+              -0.0300415047556246,
+              1.0240348322597563
+            ],
+            "target_minus_gripper": [
+              -0.008164940631778167,
+              0.013539439192829624,
+              -0.26744856326976985
+            ],
+            "held_position": [
+              0.2511274343338726,
+              -0.02537524242818312,
+              1.0225146242176515
+            ],
+            "held_minus_target": [
+              0.013826421272877643,
+              -0.008873176865388143,
+              0.265928355227665
+            ],
+            "held_minus_gripper": [
+              0.005661480641099476,
+              0.004666262327441481,
+              -0.0015202080421048425
+            ],
+            "xy_dist": 0.01581084024259283,
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+            "held_gripper_dist": 0.007492489549497147,
+            "max_held_gripper_dist": 0.007531769291019086,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565862689899865,
+            "held_z": 1.0225146242176515,
+            "required_height": 0.7865862689899865,
+            "gripper_z": 1.0240348322597563,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.13460704347006,
+            "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": 0.3928956905243038,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.397272952607548,
+            "max_source_tilt_deg": 89.75888771146094,
+            "source_upright_tilt_deg": 3.647549276971465,
+            "max_source_upright_tilt_deg": 89.85303230054818,
+            "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": 3.397272952607548,
+            "source_upright_return_tilt_deg": 3.647549276971465,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.986600622530355e-08,
+            "max_target_xy_drift": 8.927978998554647e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2373,
+                -0.0165,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2373,
+                -0.0165,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0013,
+                -0.0008,
+                -0.001
+              ],
+              "controller_last_pour_pose_position": [
+                0.2386,
+                -0.0425,
+                1.0208
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  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": [
+                  0.0012622370965371488,
+                  -0.0007712573182362781,
+                  -0.0009683105393058825
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.6475379590686696,
+              "source_return_step_error_deg": 3.3972681346918074,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 3.638288312725605,
+              "source_return_best_wrist_position": -1.6292320489883423,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6292320489883423
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+              -0.0165,
+              0.7566
+            ],
+            "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": [
+              0.0013,
+              -0.0008,
+              -0.001
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0425,
+              1.0208
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "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": [
+                0.0012622370965371488,
+                -0.0007712573182362781,
+                -0.0009683105393058825
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+                "robotiq_2f85",
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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",
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+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2779805287641903,
+              -0.37784383077493744,
+              0.8470195075712786
+            ],
+            "target_position": [
+              0.27091247887264075,
+              -0.3783579396742499,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.007086722601441817,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18699601433095323,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195075712786,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579255886502105,
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+            "release_fingertip_min_gap": 0.08697038757365004,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15426362941581356,
+            "release_required_pad_clearance": 0.05348519378682502,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9826061265044987,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007993578910827637,
+            "max_z_decrease": 0.007993578910827637,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505646417680525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007993578910827637,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020983363039263188,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007993578910827637,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007994072312813998,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12661240994930267,
+              -0.43461939692497253,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12661240994930267,
+              -0.43461939692497253,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12523629824824287,
+              -0.4340933523694489,
+              0.8056540367516545
+            ],
+            "closest_button": [
+              0.12653690576553345,
+              -0.43461897969245905,
+              0.770625650882721
+            ],
+            "closest_ee_minus_button": [
+              -0.0013006075172905807,
+              0.0005256273230101471,
+              0.03502838586893353
+            ],
+            "button_min_z_position": [
+              0.12652365863323212,
+              -0.43462279438972473,
+              0.768815279006958
+            ],
+            "min_active_finger_to_button": 0.1469513676919488,
+            "closest_active_finger": [
+              -0.002842351794242859,
+              -0.49514108896255493,
+              0.8105501532554626
+            ],
+            "closest_active_finger_button": [
+              0.126605823636055,
+              -0.43461552262306213,
+              0.7762787342071533
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12944817543029785,
+              -0.0605255663394928,
+              0.034271419048309326
+            ],
+            "min_contact_pad_to_button": 0.020983363039263188,
+            "closest_contact_pad": [
+              0.12652365863323212,
+              -0.435524901013533,
+              0.7897792416113131
+            ],
+            "closest_contact_pad_button": [
+              0.12652365863323212,
+              -0.43462279438972473,
+              0.768815279006958
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009021066238082409,
+              0.02096396260435507
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4238f052af64c0423f5aa34b02caa9ce055e9ae083bc8d541bd45a4c8cf08a82",
+    "visual_seed": 513890019869236415,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06b9aa624196deef003eb380609db14e9b7dbe80
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_100_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23403034246695778,
+              0.3020974089599601,
+              1.0030552451645334
+            ],
+            "current_z": 1.0030552451645334,
+            "required_z": 0.8611068656426348,
+            "initial_z": 0.7611068656426349,
+            "lift_margin": 0.14194837952189854,
+            "gripper_z": 1.004462129990063,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22866101866480468,
+              0.2970043064508575,
+              1.004462129990063
+            ],
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+              0.005369323802153103,
+              0.005093102509102609,
+              -0.0014068848255295308
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+            "object_to_gripper_xy": 0.007400630463723692,
+            "object_to_gripper_z": -0.0014068848255295308,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23403034246695778,
+              0.2775521241965606,
+              1.0030552451645334
+            ],
+            "finger_b": [
+              0.22169004070263046,
+              0.3020974089599601,
+              1.0030552451645334
+            ],
+            "finger_midpoint": [
+              0.22786019158479412,
+              0.2898247665782604,
+              1.0030552451645334
+            ],
+            "object_minus_finger_midpoint": [
+              0.006170150882163661,
+              0.012272642381699728,
+              0.0
+            ],
+            "finger_gap": 0.027472787476902162,
+            "fingertip_max_gap": 0.0906522088179145,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0030552451645334,
+            "object_top_z": 1.0530786775137524,
+            "finger_top_clearance": 0.05002343234921902,
+            "fingertip_min_top_clearance": 0.015007029704765673,
+            "object_projection_between_fingers": 0.7982348722986478,
+            "object_to_finger_line_xy": 0.011025318094363593,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782610440895725,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.07617941672327598,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "Robotiq_2F_85",
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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",
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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",
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+            "contact_point_distance": 0.021148047917070534,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007956743240356445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007957295261194992,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11827674508094786,
+              -0.4358156323432922,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11827674508094786,
+              -0.4358156323432922,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11677054652469213,
+              -0.4374390246463759,
+              0.8051272778932754
+            ],
+            "closest_button": [
+              0.11820530891418457,
+              -0.4358173012733459,
+              0.7701341509819031
+            ],
+            "closest_ee_minus_button": [
+              -0.0014347623894924444,
+              -0.0016217233730300151,
+              0.03499312691137235
+            ],
+            "button_min_z_position": [
+              0.11818302422761917,
+              -0.4358167648315429,
+              0.7688521146774292
+            ],
+            "min_active_finger_to_button": 0.14728505295455468,
+            "closest_active_finger": [
+              -0.024159245193004608,
+              -0.4210701584815979,
+              0.8108073472976685
+            ],
+            "closest_active_finger_button": [
+              0.11827152222394943,
+              -0.43581381440162653,
+              0.7763256430625916
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14243076741695404,
+              0.014743655920028631,
+              0.034481704235076904
+            ],
+            "min_contact_pad_to_button": 0.021148047917070534,
+            "closest_contact_pad": [
+              0.11818302422761917,
+              -0.4386822129016085,
+              0.7898051368475236
+            ],
+            "closest_contact_pad_button": [
+              0.11818302422761917,
+              -0.4358167648315429,
+              0.7688521146774292
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028654480700656126,
+              0.020953022170094426
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "45b1c9445ffa052e579fd0d81b0c48ab2efbf43d0ec7a337efabe855561fa24f",
+    "visual_seed": 1183747984583464607,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..798e689810495a6db4dfdde4c4287de85fc85ae0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_101_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23584277019643005,
+              0.29788959608902915,
+              1.003518542889792
+            ],
+            "current_z": 1.003518542889792,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.14241167724715742,
+            "gripper_z": 1.0049665511482646,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2304493435104042,
+              0.2927692395900054,
+              1.0049665511482646
+            ],
+            "object_minus_gripper": [
+              0.005393426686025854,
+              0.005120356499023759,
+              -0.0014480082584726883
+            ],
+            "object_to_gripper_xy": 0.007436874484259545,
+            "object_to_gripper_z": -0.0014480082584726883,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23584277019643005,
+              0.2733347420918044,
+              1.003518542889792
+            ],
+            "finger_b": [
+              0.2234738786409567,
+              0.29788959608902915,
+              1.003518542889792
+            ],
+            "finger_midpoint": [
+              0.22965832441869338,
+              0.28561216909041676,
+              1.003518542889792
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061844457777366635,
+              0.012277426998612395,
+              0.0
+            ],
+            "finger_gap": 0.027494187260875408,
+            "fingertip_max_gap": 0.09013805586550169,
+            "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": 1.003518542889792,
+            "object_top_z": 1.0533552482664157,
+            "finger_top_clearance": 0.04983670537662377,
+            "fingertip_min_top_clearance": 0.014951011612987097,
+            "object_projection_between_fingers": 0.7976143149642353,
+            "object_to_finger_line_xy": 0.011046564983731886,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04756902793275085,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0869089680009295,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23581016678471178,
+              -0.022597955518554026,
+              0.7565864478039208
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+            "gripper_position": [
+              0.24205091110235358,
+              -0.03658700776514881,
+              1.0234981770363718
+            ],
+            "target_minus_gripper": [
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+              0.013989052246594785,
+              -0.266911729232451
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+            "held_position": [
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+              -0.03172884761061633,
+              1.0219949816293834
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+            "held_minus_target": [
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+              -0.009130892092062307,
+              0.2654085338254626
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+            "held_minus_gripper": [
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+              0.004858160154532477,
+              -0.0015031954069884002
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+            "xy_dist": 0.015317978730763956,
+            "held_xy_dist": 0.014955900915972518,
+            "held_gripper_dist": 0.00756768323066039,
+            "max_held_gripper_dist": 0.007603351174796206,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039208,
+            "held_z": 1.0219949816293834,
+            "required_height": 0.7865864478039208,
+            "gripper_z": 1.0234981770363718,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.13651266624849,
+            "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": 0.9266477074804106,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.3396768303896867,
+            "max_source_tilt_deg": 89.92180214250561,
+            "source_upright_tilt_deg": 2.855492004032539,
+            "max_source_upright_tilt_deg": 89.72856937359214,
+            "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": 2.3396768303896867,
+            "source_upright_return_tilt_deg": 2.855492004032539,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.332000937312528e-08,
+            "max_target_xy_drift": 2.611160115730026e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2358,
+                -0.0226,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2358,
+                -0.0226,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0003,
+                -0.001,
+                -0.0015
+              ],
+              "controller_last_pour_pose_position": [
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+                -0.0488,
+                1.0203
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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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27435448464630113,
+              -0.37773853646026273,
+              0.8470194976332293
+            ],
+            "target_position": [
+              0.267825818854197,
+              -0.37788651559235237,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006530342628723618,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853071071009062,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194976332293,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547817485328419,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08756101639843845,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533774750646565,
+            "release_required_pad_clearance": 0.05378050819921923,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.569931458304351,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00785607099533081,
+            "max_z_decrease": 0.00785607099533081,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035057427754210564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00785607099533081,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020978100177179018,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00785607099533081,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00785649221970615,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12352574616670606,
+              -0.43414798378944397,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12352574616670606,
+              -0.43414798378944397,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12238170881247712,
+              -0.4334326931667849,
+              0.805266436715785
+            ],
+            "closest_button": [
+              0.12344987690448757,
+              -0.43415239453315735,
+              0.7702326774597168
+            ],
+            "closest_ee_minus_button": [
+              -0.0010681680920104492,
+              0.0007197013663724494,
+              0.03503375925606822
+            ],
+            "button_min_z_position": [
+              0.12344444543123242,
+              -0.4341509342193603,
+              0.7689527869224548
+            ],
+            "min_active_finger_to_button": 0.1466454671418173,
+            "closest_active_finger": [
+              -0.0053025782108306885,
+              -0.4952183961868286,
+              0.8107534050941467
+            ],
+            "closest_active_finger_button": [
+              0.12352199107408521,
+              -0.43414369225502014,
+              0.7764167785644531
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1288245692849159,
+              -0.06107470393180847,
+              0.034336626529693604
+            ],
+            "min_contact_pad_to_button": 0.020978100177179018,
+            "closest_contact_pad": [
+              0.12343160808086394,
+              -0.43475672413544275,
+              0.7900815869514347
+            ],
+            "closest_contact_pad_button": [
+              0.12343160808086394,
+              -0.434151142835617,
+              0.769112229347229
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006055812998257415,
+              0.020969357604205707
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "854b933cc88f0c0a7df22fd8a006ec19673a232fe84082798cf9cf090fe9b4c4",
+    "visual_seed": 8605287662440893125,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2751800f4095c486d1a0cd0c074d7f49c708854
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_102_success.json
@@ -0,0 +1,1682 @@
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00822603702545166,
+            "max_z_decrease": 0.00822603702545166,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035073238164215106,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00822603702545166,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021132388951927625,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00822603702545166,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008226767103537883,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12686346471309662,
+              -0.4363549053668976,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12686346471309662,
+              -0.4363549053668976,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12469921484294358,
+              -0.43829249658810887,
+              0.804708302906388
+            ],
+            "closest_button": [
+              0.12676025927066803,
+              -0.4363611042499543,
+              0.7697489857673645
+            ],
+            "closest_ee_minus_button": [
+              -0.002061044427724451,
+              -0.0019313923381545917,
+              0.03495931713902345
+            ],
+            "button_min_z_position": [
+              0.1267540156841278,
+              -0.4363491833209992,
+              0.768582820892334
+            ],
+            "min_active_finger_to_button": 0.14782907744200532,
+            "closest_active_finger": [
+              -0.016389481723308563,
+              -0.42430004477500916,
+              0.8111674189567566
+            ],
+            "closest_active_finger_button": [
+              0.1268608421087265,
+              -0.4363517463207245,
+              0.7767067551612854
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14325032383203506,
+              0.012051701545715332,
+              0.03446066379547119
+            ],
+            "min_contact_pad_to_button": 0.021132388951927625,
+            "closest_contact_pad": [
+              0.1267540156841278,
+              -0.439272303957658,
+              0.7895120642747187
+            ],
+            "closest_contact_pad_button": [
+              0.1267540156841278,
+              -0.4363491833209992,
+              0.768582820892334
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029231206366587825,
+              0.020929243382384666
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e876e508d71b2da15be04ff7abb84d2c13ee154ef4ae096e6e0e334418c45c59",
+    "visual_seed": 4630625979509298320,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc1aaccf5f26fef539c80d0bde46ed43f9712b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_103_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24080255338794807,
+              0.29614320131069605,
+              1.002806366393754
+            ],
+            "current_z": 1.002806366393754,
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+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.14169973916969847,
+            "gripper_z": 1.004457474682267,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23515268132984293,
+              0.2910102624106813,
+              1.004457474682267
+            ],
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+              0.005649872058105132,
+              0.005132938900014761,
+              -0.0016511082885128925
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+            "object_to_gripper_xy": 0.007633355489183106,
+            "object_to_gripper_z": -0.0016511082885128925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24080255338794807,
+              0.27130381957810157,
+              1.002806366393754
+            ],
+            "finger_b": [
+              0.2285271827327312,
+              0.29614320131069605,
+              1.002806366393754
+            ],
+            "finger_midpoint": [
+              0.23466486806033965,
+              0.2837235104443988,
+              1.002806366393754
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061376853276084165,
+              0.01241969086629724,
+              0.0
+            ],
+            "finger_gap": 0.027707031771384453,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002806366393754,
+            "object_top_z": 1.0528255145261745,
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+            "object_projection_between_fingers": 0.8037140457523683,
+            "object_to_finger_line_xy": 0.011004882086609175,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782345720150728,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.06373901368737613,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23664123434681505,
+              -0.020795008146355924,
+              0.7565863285946313
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bfd4848dbe81909e692e49d0e57ef911b05ddcc8ed33c0ff33403b4547a60b8d",
+    "visual_seed": 915089969204019896,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5e5c34fdad431fe9fadcdc2c11f17e674af1f36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_104_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.3026417820050742,
+              1.0029118969891595
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+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.14180509095116944,
+            "gripper_z": 1.0045216248645223,
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+            "gripper_position": [
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+              0.2974278194931549,
+              1.0045216248645223
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+              0.005213962511919301,
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+            "object_to_gripper_z": -0.001609727875362843,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.237314469293732,
+              0.277950772721238,
+              1.0029118969891595
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+            "finger_b": [
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+              0.3026417820050742,
+              1.0029118969891595
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+            "finger_midpoint": [
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+              0.2902962773631561,
+              1.0029118969891595
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+              0.012345504641918081,
+              0.0
+            ],
+            "finger_gap": 0.027671287894152616,
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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": 0.04783933636029508,
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+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.023273665436695394,
+              0.7565862689899865
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+              -0.035688554494843414,
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+              0.004825374879549066,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "max_source_upright_tilt_deg": 89.85480148629105,
+            "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": 3.0564339448194553,
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+            "target_xy_drift": 1.8515292417959177e-07,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                -0.0233,
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+              "controller_target_position": [
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+                -0.0233,
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+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.62879478931427
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_pour_pose_offset": [
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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_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2716576190128895,
+              -0.3746907131197852,
+              0.8470196315574414
+            ],
+            "target_position": [
+              0.2655363009923913,
+              -0.3745678498436422,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006122550913851235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18326366533188743,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196315574414,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07512645590862974,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548316000189475,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522568940961565,
+            "release_required_pad_clearance": 0.05274158000094738,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5337569588499664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008057832717895508,
+            "max_z_decrease": 0.008057832717895508,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035004743711418984,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008057832717895508,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02100449793755651,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008057832717895508,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008058243677262319,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12123622745275496,
+              -0.43082931637763977,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12123622745275496,
+              -0.43082931637763977,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12130634577913704,
+              -0.4312350740597702,
+              0.8037530610347914
+            ],
+            "closest_button": [
+              0.12115488201379775,
+              -0.430826872587204,
+              0.7687510251998901
+            ],
+            "closest_ee_minus_button": [
+              0.0001514637653392964,
+              -0.0004082014725662053,
+              0.035002035834901246
+            ],
+            "button_min_z_position": [
+              0.12115488201379775,
+              -0.430826872587204,
+              0.7687510251998901
+            ],
+            "min_active_finger_to_button": 0.14579567063135251,
+            "closest_active_finger": [
+              -0.019404634833335876,
+              -0.41372695565223694,
+              0.810968816280365
+            ],
+            "closest_active_finger_button": [
+              0.12123285979032516,
+              -0.4308272302150726,
+              0.7765442132949829
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14063749462366104,
+              0.017100274562835638,
+              0.03442460298538208
+            ],
+            "min_contact_pad_to_button": 0.02100449793755651,
+            "closest_contact_pad": [
+              0.12115488201379775,
+              -0.4325429632814106,
+              0.7896853025062142
+            ],
+            "closest_contact_pad_button": [
+              0.12115488201379775,
+              -0.430826872587204,
+              0.7687510251998901
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00171609069420664,
+              0.020934277306324023
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a1cc9cec83bad2249a8ea7daf0bf3ac761610eb834f640e4db6e3f1b1d9b344",
+    "visual_seed": 8562225995842341805,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5782c5c10a7fad9505ccb3f061a2f80811e20d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_105_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              1.0023940809901783
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+            "current_z": 1.0023940809901783,
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+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14128751337076773,
+            "gripper_z": 1.0038980183496973,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23200290071331225,
+              0.29664242973074273,
+              1.0038980183496973
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+              0.005605156740009137,
+              0.005077929371624268,
+              -0.0015039373595189254
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+            "object_to_gripper_xy": 0.00756327632598957,
+            "object_to_gripper_z": -0.0015039373595189254,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2376080574533214,
+              0.2767380009196667,
+              1.0023940809901783
+            ],
+            "finger_b": [
+              0.22565021561741203,
+              0.301720359102367,
+              1.0023940809901783
+            ],
+            "finger_midpoint": [
+              0.2316291365353667,
+              0.28922918001101683,
+              1.0023940809901783
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+            "object_minus_finger_midpoint": [
+              0.005978920917954683,
+              0.012491179091350169,
+              0.0
+            ],
+            "finger_gap": 0.027696718248582376,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0023940809901783,
+            "object_top_z": 1.0525021346923469,
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+            "object_projection_between_fingers": 0.8135986800192813,
+            "object_to_finger_line_xy": 0.010785938072358317,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779368789782444,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23633377232774988,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00770801305770874,
+            "max_z_decrease": 0.00770801305770874,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505462628483608,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00770801305770874,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.020954769441970743,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00770801305770874,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007708535478056228,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12267742305994034,
+              -0.43347179889678955,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12267742305994034,
+              -0.43347179889678955,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12161078964640584,
+              -0.43244046409999193,
+              0.8045845425177026
+            ],
+            "closest_button": [
+              0.12257952988147734,
+              -0.43348202109336853,
+              0.7695587873458862
+            ],
+            "closest_ee_minus_button": [
+              -0.0009687402350714996,
+              0.0010415569933766022,
+              0.035025755171816386
+            ],
+            "button_min_z_position": [
+              0.12258794158697127,
+              -0.43347865343093867,
+              0.7691008448600769
+            ],
+            "min_active_finger_to_button": 0.14638667789454202,
+            "closest_active_finger": [
+              -0.006156109273433685,
+              -0.49390745162963867,
+              0.8108699321746826
+            ],
+            "closest_active_finger_button": [
+              0.12267381697893141,
+              -0.4334680438041687,
+              0.7765335440635681
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1288299262523651,
+              -0.06043940782546997,
+              0.0343363881111145
+            ],
+            "min_contact_pad_to_button": 0.020954769441970743,
+            "closest_contact_pad": [
+              0.12258794158697127,
+              -0.4337765345547945,
+              0.7900534969404748
+            ],
+            "closest_contact_pad_button": [
+              0.12258794158697127,
+              -0.43347865343093867,
+              0.7691008448600769
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00029788112385581433,
+              0.02095265208039787
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48fc79b8de8f2060a5fcf136cc944d73119a3ec4830fa052008b7355eb0503c3",
+    "visual_seed": 3328121154554781193,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f12eb1b0db89c7a1fe3f9c2d8daf8f06e2b4cea6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_106_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23229483523823619,
+              0.300546185989509,
+              1.0011155696559624
+            ],
+            "current_z": 1.0011155696559624,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.14000894243190698,
+            "gripper_z": 1.002789444442046,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22682331003339085,
+              0.2954280981174561,
+              1.002789444442046
+            ],
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+              0.00547152520484534,
+              0.005118087872052923,
+              -0.0016738747860836067
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+            "object_to_gripper_xy": 0.007492156667696763,
+            "object_to_gripper_z": -0.0016738747860836067,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23229483523823619,
+              0.2758532877838399,
+              1.0011155696559624
+            ],
+            "finger_b": [
+              0.22002866278609332,
+              0.300546185989509,
+              1.0011155696559624
+            ],
+            "finger_midpoint": [
+              0.22616174901216474,
+              0.28819973688667444,
+              1.0011155696559624
+            ],
+            "object_minus_finger_midpoint": [
+              0.006133086226071449,
+              0.012346449102834556,
+              0.0
+            ],
+            "finger_gap": 0.02757169215737847,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0011155696559624,
+            "object_top_z": 1.0512705692212947,
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+            "object_to_finger_line_xy": 0.01098544645011536,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047856556681278695,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22045534275176404,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.024095665642212206,
+              0.7565863285946313
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+            "gripper_position": [
+              0.24303976947981032,
+              -0.037756864356001854,
+              1.0245268625454402
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+            "held_minus_target": [
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+              0.004797136429974182,
+              -0.0017378974298676297
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+            "xy_dist": 0.014690654244693662,
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+            "held_gripper_dist": 0.007663780536959199,
+            "max_held_gripper_dist": 0.007724174836543428,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
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+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0245268625454402,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.08368798320761,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.6123750328474782,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8335379104259317,
+            "max_source_tilt_deg": 89.89933713675535,
+            "source_upright_tilt_deg": 3.170536336390031,
+            "max_source_upright_tilt_deg": 89.91846626776321,
+            "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": 2.8335379104259317,
+            "source_upright_return_tilt_deg": 3.170536336390031,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.862645149230957e-08,
+            "max_target_xy_drift": 8.953803235886041e-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,
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a72ce49b184313ad308dce66981256cb522ee16832a3c6843194fe6f35cfa6a",
+    "visual_seed": 2764496450065016929,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8095dd8e320a75b0615e817243bf1ee07dea251
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_107_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.30178695039615966,
+              1.0040156619925409
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+              0.2966113080906642,
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+              0.005175642305495443,
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+            "object_to_gripper_z": -0.001550543457673914,
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+              0.27705377764561057,
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+              0.2894203640208851,
+              1.0040156619925409
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+              -0.029439632739468174,
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+            "missing_end_effector_orientation_samples": 0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              -0.3825333429042529,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0063488500433416485,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18684103396616106,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019667120471,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566443905190695,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08698028613367283,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15428808692219206,
+            "release_required_pad_clearance": 0.053490143066836415,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9928443706608863,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008109867572784424,
+            "max_z_decrease": 0.008109867572784424,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503377765928037,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008109867572784424,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020960649498355473,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008109867572784424,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008110530385024503,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11867710947990416,
+              -0.43879479169845587,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11867710947990416,
+              -0.43879479169845587,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1199281613455124,
+              -0.4379567649526608,
+              0.8036966699479299
+            ],
+            "closest_button": [
+              0.11857356876134871,
+              -0.43878927826881414,
+              0.7686989903450012
+            ],
+            "closest_ee_minus_button": [
+              0.0013545925841636913,
+              0.0008325133161533604,
+              0.034997679602928655
+            ],
+            "button_min_z_position": [
+              0.11857356876134871,
+              -0.43878927826881414,
+              0.7686989903450012
+            ],
+            "min_active_finger_to_button": 0.14445315927260444,
+            "closest_active_finger": [
+              -0.006372593343257904,
+              -0.5023627281188965,
+              0.8106987476348877
+            ],
+            "closest_active_finger_button": [
+              0.11867759376764295,
+              -0.4387877285480499,
+              0.7762402892112732
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12505018711090085,
+              -0.06357499957084656,
+              0.0344584584236145
+            ],
+            "min_contact_pad_to_button": 0.020960649498355473,
+            "closest_contact_pad": [
+              0.11857356876134871,
+              -0.4389967879725998,
+              0.7896586126487486
+            ],
+            "closest_contact_pad_button": [
+              0.11857356876134871,
+              -0.43878927826881414,
+              0.7686989903450012
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002075097037856355,
+              0.02095962230374737
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a96227f4196daf7909e3e7385e0572531e54e0e7c7dbf5afd3bdbf93fc48ae4",
+    "visual_seed": 7592113226330988899,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe7ffcabd5949fcfd2c079df520db9f3b7fd810
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_109_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23238190210914905,
+              0.2937574448429074,
+              1.0021013509604262
+            ],
+            "current_z": 1.0021013509604262,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14099478334101556,
+            "gripper_z": 1.004012518311307,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22681573445634182,
+              0.2887973808133328,
+              1.004012518311307
+            ],
+            "object_minus_gripper": [
+              0.005566167652807236,
+              0.004960064029574607,
+              -0.0019111673508807048
+            ],
+            "object_to_gripper_xy": 0.007455498475396363,
+            "object_to_gripper_z": -0.0019111673508807048,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23238190210914905,
+              0.2687455932819457,
+              1.0021013509604262
+            ],
+            "finger_b": [
+              0.22065221956605927,
+              0.2937574448429074,
+              1.0021013509604262
+            ],
+            "finger_midpoint": [
+              0.22651706083760415,
+              0.2812515190624265,
+              1.0021013509604262
+            ],
+            "object_minus_finger_midpoint": [
+              0.005864841271544907,
+              0.012505925780480875,
+              0.0
+            ],
+            "finger_gap": 0.02762567955850584,
+            "fingertip_max_gap": 0.09062880802984835,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013812839779252949,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0021013509604262,
+            "object_top_z": 1.0521618689835934,
+            "finger_top_clearance": 0.050060518023167244,
+            "fingertip_min_top_clearance": 0.015018155406950173,
+            "object_projection_between_fingers": 0.8197204037310163,
+            "object_to_finger_line_xy": 0.01061986830056583,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781440401492418,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.10904042304420794,
+            "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": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
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+            "closest_active_finger_minus_button": [
+              -0.1266415119171142,
+              -0.06098872423171997,
+              0.034315288066864014
+            ],
+            "min_contact_pad_to_button": 0.02096240760695245,
+            "closest_contact_pad": [
+              0.1267488151788711,
+              -0.43440642952919006,
+              0.7897271418751409
+            ],
+            "closest_contact_pad_button": [
+              0.1267488151788711,
+              -0.43440642952919006,
+              0.7687647342681885
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02096240760695245
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b232188d28992a7350c91731b65aa21d90d6bde90358fabfb503eca322d9984",
+    "visual_seed": 489349878681130736,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f621ce1e51e5a2cf364366fddd20b2e6845779
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_10_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.23286933503444412,
+              0.30428526075323425,
+              1.0015147451477995
+            ],
+            "current_z": 1.0015147451477995,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.14040799871445442,
+            "gripper_z": 1.0029138280355103,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22753138531576628,
+              0.2991338462543498,
+              1.0029138280355103
+            ],
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+              0.005337949718677848,
+              0.005151414498884455,
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+            ],
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+            "object_to_gripper_z": -0.0013990828877108452,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23286933503444412,
+              0.2797966542875284,
+              1.0015147451477995
+            ],
+            "finger_b": [
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+              0.30428526075323425,
+              1.0015147451477995
+            ],
+            "finger_midpoint": [
+              0.22664177849170025,
+              0.29204095752038134,
+              1.0015147451477995
+            ],
+            "object_minus_finger_midpoint": [
+              0.006227556542743873,
+              0.012244303232852916,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.7944814724930728,
+            "object_to_finger_line_xy": 0.01110170190906611,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777727565010864,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.05848622923832256,
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23839088399071304,
+              -0.017166908809135732,
+              0.756586388199276
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+            "gripper_position": [
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+              -0.030351181067309885,
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+            "held_minus_target": [
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+              0.004726495535118606,
+              -0.0014690503512178044
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+            "held_gripper_dist": 0.007541700168489168,
+            "max_held_gripper_dist": 0.007574138560357566,
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+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.17943357499286,
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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": 89.63814351090751,
+            "source_upright_tilt_deg": 4.314392681740723,
+            "max_source_upright_tilt_deg": 89.9433729211057,
+            "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": 3.199681794757339,
+            "source_upright_return_tilt_deg": 4.314392681740723,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.9800189533707965e-08,
+            "max_target_xy_drift": 2.0891539592757751e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                -0.0172,
+                0.7566
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+              "controller_target_position": [
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+                -0.0172,
+                0.7566
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+              "controller_target_minus_raw_target": [
+                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_a",
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+              "wrist_compensated_return_position": -1.6298707723617554
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27482725625819493,
+              -0.3757908196582986,
+              0.847019564247339
+            ],
+            "target_position": [
+              0.2680420303856943,
+              -0.376092585317678,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006791932910006743,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18720908290186414,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019564247339,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586460559420498,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08811128130834435,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15437326665751372,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1237026635050804,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007958829402923584,
+            "max_z_decrease": 0.007958829402923584,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507489701582299,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007958829402923584,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021153760161802322,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007958829402923584,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007959423061452003,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12374195456504822,
+              -0.43235403299331665,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12374195456504822,
+              -0.43235403299331665,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1242479505785894,
+              -0.43398701386339855,
+              0.8047178028086183
+            ],
+            "closest_button": [
+              0.1236499696969986,
+              -0.43236300349235535,
+              0.7696856260299683
+            ],
+            "closest_ee_minus_button": [
+              0.0005979808815907983,
+              -0.0016240103710432052,
+              0.035032176778650004
+            ],
+            "button_min_z_position": [
+              0.12364490330219267,
+              -0.43235960602760315,
+              0.7688500285148621
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+            "min_active_finger_to_button": 0.1453055524185055,
+            "closest_active_finger": [
+              -0.016641579568386078,
+              -0.4174540638923645,
+              0.8107839822769165
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+            "closest_active_finger_button": [
+              0.12373853474855422,
+              -0.4323506951332092,
+              0.7763569951057434
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1403801143169403,
+              0.014896631240844671,
+              0.034426987171173096
+            ],
+            "min_contact_pad_to_button": 0.021153760161802322,
+            "closest_contact_pad": [
+              0.12364490330219267,
+              -0.43523139508269365,
+              0.7898079481779898
+            ],
+            "closest_contact_pad_button": [
+              0.12364490330219267,
+              -0.43235960602760315,
+              0.7688500285148621
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002871789055090501,
+              0.020957919663127766
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "095705916f7f95559c5239a65fd38f7093142a57b133182f386238864ba5b7d1",
+    "visual_seed": 5711462837702331673,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4d1c90455c23b7fb641f1d970505abf20aef914
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_110_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2987059422656897,
+              1.002881607504008
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+            "current_z": 1.002881607504008,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.14177480146601806,
+            "gripper_z": 1.0053162331330232,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22633680030966907,
+              0.2937718217676375,
+              1.0053162331330232
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+            "object_minus_gripper": [
+              0.005509139279569475,
+              0.004934120498052197,
+              -0.002434625629015308
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+            "object_to_gripper_xy": 0.007395685275280049,
+            "object_to_gripper_z": -0.002434625629015308,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23184593958923855,
+              0.2738386355219911,
+              1.002881607504008
+            ],
+            "finger_b": [
+              0.2200636659513277,
+              0.2987059422656897,
+              1.002881607504008
+            ],
+            "finger_midpoint": [
+              0.22595480277028313,
+              0.2862722888938404,
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007692396640777588,
+            "max_z_decrease": 0.007692396640777588,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035038214303535195,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007692396640777588,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.020991220512920385,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007692396640777588,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007693041203677039,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12068140506744382,
+              -0.43208372592926025,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12068140506744382,
+              -0.43208372592926025,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12023832206774185,
+              -0.43185589847854156,
+              0.8041522400111506
+            ],
+            "closest_button": [
+              0.12058183550834654,
+              -0.4320853948593139,
+              0.7691164612770081
+            ],
+            "closest_ee_minus_button": [
+              -0.00034351344060469524,
+              0.0002294963807723538,
+              0.03503577873414254
+            ],
+            "button_min_z_position": [
+              0.12058183550834654,
+              -0.4320853948593139,
+              0.7691164612770081
+            ],
+            "min_active_finger_to_button": 0.14615834350199938,
+            "closest_active_finger": [
+              -0.007252722978591919,
+              -0.49384450912475586,
+              0.8108944296836853
+            ],
+            "closest_active_finger_button": [
+              0.12067851424217223,
+              -0.43208140134811396,
+              0.776526153087616
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12793123722076416,
+              -0.0617631077766419,
+              0.034368276596069336
+            ],
+            "min_contact_pad_to_button": 0.020991220512920385,
+            "closest_contact_pad": [
+              0.12058183550834654,
+              -0.4331351613597089,
+              0.7900814160567518
+            ],
+            "closest_contact_pad_button": [
+              0.12058183550834654,
+              -0.4320853948593139,
+              0.7691164612770081
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010497665003950107,
+              0.020964954779743694
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "448be48378d7eed71d99c474f9b81f35d3e77ec6cd804162a4f5879b2828e957",
+    "visual_seed": 7873920762448380967,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9308fc3aab76b6d5ad1ec316638cd0096a642a90
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_11_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2325458357499963,
+              0.2940015204032079,
+              1.0010745715397962
+            ],
+            "current_z": 1.0010745715397962,
+            "required_z": 0.8611069848519242,
+            "initial_z": 0.7611069848519242,
+            "lift_margin": 0.13996758668787201,
+            "gripper_z": 1.0029086538143954,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22701792025525921,
+              0.2888320028762356,
+              1.0029086538143954
+            ],
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+              0.005527915494737079,
+              0.0051695175269723115,
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+            "object_to_gripper_xy": 0.007568471521953967,
+            "object_to_gripper_z": -0.0018340822745992469,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2325458357499963,
+              0.2693524196981719,
+              1.0010745715397962
+            ],
+            "finger_b": [
+              0.220088997422136,
+              0.2940015204032079,
+              1.0010745715397962
+            ],
+            "finger_midpoint": [
+              0.22631741658606613,
+              0.2816769700506899,
+              1.0010745715397962
+            ],
+            "object_minus_finger_midpoint": [
+              0.00622841916393016,
+              0.012324550352518004,
+              0.0
+            ],
+            "finger_gap": 0.02761794682255464,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015020389078327583,
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+            "object_to_finger_line_xy": 0.011117765718884776,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780352311222048,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.14173712074142644,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.015543954425643255,
+              0.7565863881992761
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+            "gripper_position": [
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+              -0.02985521864004817,
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+              0.004822435467650377,
+              -0.0019054923548791347
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+            "held_gripper_dist": 0.007778699266870155,
+            "max_held_gripper_dist": 0.007851258805097919,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863881992761,
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+            "required_height": 0.7865863881992762,
+            "gripper_z": 1.0243179533577176,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.1897881417746,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.8861338699754217,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.728936078389356,
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+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "083dc4a4f0a613dbe750150dce9bf1a506e16058510830b5365ab5ad56576aea",
+    "visual_seed": 3998463813676670882,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..229fa0e9eea6fb32c94bc31b9024137d7997fafc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_12_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+              0.281244248615636,
+              1.0008451747816158
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "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,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_metrics": {},
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2734091456094203,
+              -0.3746949235625682,
+              0.8470194210933303
+            ],
+            "target_position": [
+              0.26573040144089743,
+              -0.3756569708226147,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007738775545019185,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18772720000891324,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194210933303,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546481084555232,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08703339021039218,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.155977068345355,
+            "release_required_pad_clearance": 0.05351669510519609,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.044797821893153,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007671952247619629,
+            "max_z_decrease": 0.007671952247619629,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035086209785591564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007671952247619629,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.020985917016119626,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007671952247619629,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007672297275161751,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.121430329978466,
+              -0.4319184422492981,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.121430329978466,
+              -0.4319184422492981,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11979020333980514,
+              -0.43030835068402457,
+              0.8049137882320838
+            ],
+            "closest_button": [
+              0.12133977562189101,
+              -0.43192404508590704,
+              0.7698990702629089
+            ],
+            "closest_ee_minus_button": [
+              -0.0015495722820858676,
+              0.0016156944018824726,
+              0.03501471796917488
+            ],
+            "button_min_z_position": [
+              0.12135764956474301,
+              -0.4319218695163727,
+              0.769136905670166
+            ],
+            "min_active_finger_to_button": 0.1466806720229615,
+            "closest_active_finger": [
+              -0.0072750523686409,
+              -0.4932939410209656,
+              0.8103474974632263
+            ],
+            "closest_active_finger_button": [
+              0.12142539769411086,
+              -0.43191757798194885,
+              0.775933027267456
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12870045006275177,
+              -0.061376363039016724,
+              0.034414470195770264
+            ],
+            "min_contact_pad_to_button": 0.020985917016119626,
+            "closest_contact_pad": [
+              0.12135764956474301,
+              -0.4319218695163727,
+              0.7901228226862856
+            ],
+            "closest_contact_pad_button": [
+              0.12135764956474301,
+              -0.4319218695163727,
+              0.769136905670166
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020985917016119626
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "25c0edae0965a672319adf423b00d424444f87ed535a28d7032ec8a2ffb47e77",
+    "visual_seed": 7120285704582397968,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b26bd813ef5f8bded2b8f822fe8e0414a38706
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_13_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23854572927147435,
+              0.30175623918251904,
+              1.0014230380725284
+            ],
+            "current_z": 1.0014230380725284,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14031635124382813,
+            "gripper_z": 1.002839916929847,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23294293837708527,
+              0.29671289795861644,
+              1.002839916929847
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+              0.005602790894389087,
+              0.005043341223902598,
+              -0.0014168788573185598
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+            "object_to_gripper_xy": 0.007538339107984239,
+            "object_to_gripper_z": -0.0014168788573185598,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23854572927147435,
+              0.27673419255251847,
+              1.0014230380725284
+            ],
+            "finger_b": [
+              0.2266922376652315,
+              0.30175623918251904,
+              1.0014230380725284
+            ],
+            "finger_midpoint": [
+              0.2326189834683529,
+              0.2892452158675187,
+              1.0014230380725284
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059267458031214415,
+              0.012511023315000314,
+              0.0
+            ],
+            "finger_gap": 0.02768768825332286,
+            "fingertip_max_gap": 0.09051322678724286,
+            "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": 1.051491408711481,
+            "finger_top_clearance": 0.05006837063895264,
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+            "object_projection_between_fingers": 0.8167182595959249,
+            "object_to_finger_line_xy": 0.010712292661852472,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775661339362143,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22853906107070776,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+              0.11971735954284667,
+              -0.4333613514900207,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11963577085003271,
+              -0.4340457641825792,
+              0.805494071674284
+            ],
+            "closest_button": [
+              0.11962843686342238,
+              -0.43336617946624756,
+              0.7704668045043945
+            ],
+            "closest_ee_minus_button": [
+              7.333986610333354e-06,
+              -0.000679584716331616,
+              0.035027267169889464
+            ],
+            "button_min_z_position": [
+              0.11961747705936429,
+              -0.43336528539657587,
+              0.7690600752830505
+            ],
+            "min_active_finger_to_button": 0.14599266103739186,
+            "closest_active_finger": [
+              -0.02115117758512497,
+              -0.41648808121681213,
+              0.8109258413314819
+            ],
+            "closest_active_finger_button": [
+              0.11971529573202132,
+              -0.43335899710655207,
+              0.7764894366264343
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1408664733171463,
+              0.016870915889739935,
+              0.03443640470504761
+            ],
+            "min_contact_pad_to_button": 0.021074907930818194,
+            "closest_contact_pad": [
+              0.11961747705936429,
+              -0.43541789421908517,
+              0.790034787231352
+            ],
+            "closest_contact_pad_button": [
+              0.11961747705936429,
+              -0.43336528539657587,
+              0.7690600752830505
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020526088225092942,
+              0.020974711948301472
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6a7087d95bbeee9882e7de2d4054dffd2fec8645b1d194a0fc7fe848347aaeb2",
+    "visual_seed": 3624449029923665051,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43174dc95af0c646a13454958a696c078232fd7b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_14_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24015468967989512,
+              0.30299355158563024,
+              1.0031545128234423
+            ],
+            "current_z": 1.0031545128234423,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.1420478259947422,
+            "gripper_z": 1.0045039369983428,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23458844062201134,
+              0.29795215441363215,
+              1.0045039369983428
+            ],
+            "object_minus_gripper": [
+              0.0055662490578837764,
+              0.0050413971719980855,
+              -0.001349424174900582
+            ],
+            "object_to_gripper_xy": 0.007509914381683877,
+            "object_to_gripper_z": -0.001349424174900582,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24015468967989512,
+              0.2780086927062706,
+              1.0031545128234423
+            ],
+            "finger_b": [
+              0.2282863648259556,
+              0.30299355158563024,
+              1.0031545128234423
+            ],
+            "finger_midpoint": [
+              0.23422052725292536,
+              0.2905011221459504,
+              1.0031545128234423
+            ],
+            "object_minus_finger_midpoint": [
+              0.005934162426969758,
+              0.01249242943967982,
+              0.0
+            ],
+            "finger_gap": 0.027660446635225443,
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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": 1.0031545128234423,
+            "object_top_z": 1.0532207980330917,
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+            "fingertip_min_top_clearance": 0.015019885562894852,
+            "object_projection_between_fingers": 0.8158971662215515,
+            "object_to_finger_line_xy": 0.010720304900371623,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778283760033364,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1770876792095552,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2367830635990581,
+              -0.01960079183537799,
+              0.756586388199276
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+            "gripper_position": [
+              0.24207547301147417,
+              -0.03451136339125335,
+              1.0247979204168665
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+            "target_minus_gripper": [
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+              0.014910571555875364,
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+            "held_position": [
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+              -0.029671701210415888,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004839662180837465,
+              -0.0014026574486483145
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+            "xy_dist": 0.01582197021585838,
+            "held_xy_dist": 0.01492143708799039,
+            "held_gripper_dist": 0.007621267606367749,
+            "max_held_gripper_dist": 0.007651360344988611,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0247979204168665,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.09333904050484,
+            "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": 0.4305916589558067,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.781540629556226,
+            "max_source_tilt_deg": 89.87625873505347,
+            "source_upright_tilt_deg": 2.3746140539888807,
+            "max_source_upright_tilt_deg": 89.76362949927658,
+            "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": 2.781540629556226,
+            "source_upright_return_tilt_deg": 2.3746140539888807,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.999185021242475e-08,
+            "max_target_xy_drift": 2.4901691784348094e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2368,
+                -0.0196,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2368,
+                -0.0196,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0019,
+                -0.0019,
+                0.0003
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+              "controller_last_pour_pose_position": [
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+                -0.0467,
+                1.0221
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              ],
+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27862778914459463,
+              -0.3805999675100561,
+              0.8470194916796903
+            ],
+            "target_position": [
+              0.2721394387979324,
+              -0.38103766628275004,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006503096988101106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18408969358011504,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194916796903,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550304920441799,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704014863783698,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521944298309749,
+            "release_required_pad_clearance": 0.05352007431891849,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.052057948396526,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008155882358551025,
+            "max_z_decrease": 0.008155882358551025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500873492623773,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008155882358551025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02105218940963483,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008155882358551025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815603830105043,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12783937156200406,
+              -0.4372991323471069,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12783937156200406,
+              -0.4372991323471069,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12601876008726107,
+              -0.438671797377325,
+              0.8035896174598834
+            ],
+            "closest_button": [
+              0.1277896016836166,
+              -0.43729096651077265,
+              0.7686529755592346
+            ],
+            "closest_ee_minus_button": [
+              -0.0017708415963555435,
+              -0.0013808308665523295,
+              0.034936641900648824
+            ],
+            "button_min_z_position": [
+              0.1277896016836166,
+              -0.43729096651077265,
+              0.7686529755592346
+            ],
+            "min_active_finger_to_button": 0.147465437909536,
+            "closest_active_finger": [
+              -0.014650821685791016,
+              -0.4211232662200928,
+              0.8110042810440063
+            ],
+            "closest_active_finger_button": [
+              0.12783478200435633,
+              -0.4372968971729278,
+              0.7766193747520447
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14248560369014734,
+              0.016173630952835027,
+              0.03438490629196167
+            ],
+            "min_contact_pad_to_button": 0.02105218940963483,
+            "closest_contact_pad": [
+              0.1277896016836166,
+              -0.4399886440428593,
+              0.7895316061386576
+            ],
+            "closest_contact_pad_button": [
+              0.1277896016836166,
+              -0.43729096651077265,
+              0.7686529755592346
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002697677532086662,
+              0.020878630579422963
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6e9ff25fac4b1e934c7d51b44e9f462a0d75cc95c0303f87093176948a83e84",
+    "visual_seed": 2686271386708780865,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb410bb091739b6ef15ddfe21ee4997a026af6dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_15_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24032122157988367,
+              0.2997428664037819,
+              1.0041086158286383
+            ],
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008209943771362305,
+            "max_z_decrease": 0.008209943771362305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504734981279741,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008209943771362305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102605259097197,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008209943771362305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008210276502821709,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12599495053291315,
+              -0.4373047053813934,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12599495053291315,
+              -0.4373047053813934,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12392250488677298,
+              -0.438346514320755,
+              0.8035734624848497
+            ],
+            "closest_button": [
+              0.1259214580059051,
+              -0.43729680776596064,
+              0.7685989141464233
+            ],
+            "closest_ee_minus_button": [
+              -0.0019989531191321186,
+              -0.0010497065547943607,
+              0.03497454833842639
+            ],
+            "button_min_z_position": [
+              0.1259214580059051,
+              -0.43729680776596064,
+              0.7685989141464233
+            ],
+            "min_active_finger_to_button": 0.14785280267214,
+            "closest_active_finger": [
+              -0.017194055020809174,
+              -0.4242168068885803,
+              0.8105868697166443
+            ],
+            "closest_active_finger_button": [
+              0.12598599493503565,
+              -0.43730741739273066,
+              0.776111364364624
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14318004995584482,
+              0.013090610504150335,
+              0.034475505352020264
+            ],
+            "min_contact_pad_to_button": 0.02102605259097197,
+            "closest_contact_pad": [
+              0.1259214580059051,
+              -0.43935734202790194,
+              0.7895237579000499
+            ],
+            "closest_contact_pad_button": [
+              0.1259214580059051,
+              -0.43729680776596064,
+              0.7685989141464233
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020605342619413047,
+              0.020924843753626576
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af35fda5f3ff375c351f44d6b82f67c33f374f2601c2a6c9953ff271d2c253e7",
+    "visual_seed": 6597328140719683882,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f93603b5ae1a4edd76b21ed7070c1457a809e15a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_16_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23922556442484594,
+              0.3017203847283394,
+              1.001931927685713
+            ],
+            "current_z": 1.001931927685713,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.14082518125236787,
+            "gripper_z": 1.0034859377005485,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23362450175690452,
+              0.2965901798970118,
+              1.0034859377005485
+            ],
+            "object_minus_gripper": [
+              0.005601062667941414,
+              0.005130204831327589,
+              -0.0015540100148354608
+            ],
+            "object_to_gripper_xy": 0.007595452891143749,
+            "object_to_gripper_z": -0.0015540100148354608,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23922556442484594,
+              0.27680378119208027,
+              1.001931927685713
+            ],
+            "finger_b": [
+              0.22710521046478888,
+              0.3017203847283394,
+              1.001931927685713
+            ],
+            "finger_midpoint": [
+              0.2331653874448174,
+              0.28926208296020983,
+              1.001931927685713
+            ],
+            "object_minus_finger_midpoint": [
+              0.006060176980028531,
+              0.012458301768129565,
+              0.0
+            ],
+            "finger_gap": 0.027708123572342314,
+            "fingertip_max_gap": 0.09057275143915675,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.001931927685713,
+            "object_top_z": 1.0519664078304944,
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+            "fingertip_min_top_clearance": 0.015010344043434404,
+            "object_projection_between_fingers": 0.8086553277078629,
+            "object_to_finger_line_xy": 0.010899260411965178,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047786375719578375,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1278682636457429,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23856014628071395,
+              -0.02113598769266443,
+              0.7565862093853417
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+            "gripper_position": [
+              0.24597251291802721,
+              -0.03286505525870986,
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+            "target_minus_gripper": [
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+              0.011729067566045432,
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+            "held_position": [
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+              -0.02804695414476556,
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+            "held_minus_target": [
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+              -0.006910966452101128,
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+            ],
+            "held_minus_gripper": [
+              0.005843053135559079,
+              0.004818101113944304,
+              -0.0016161544270694161
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+            "xy_dist": 0.013874948833592634,
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3dd3a8da7523593c0257c205ba62a43fea7e0b36c0a47b2fc9e822f0eca4b5a",
+    "visual_seed": 6970424482820021059,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a069f552497c20decb70a8fd776c4cad09d3afe5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_17_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2326049652516706,
+              0.29766445108829037,
+              1.001911320130381
+            ],
+            "current_z": 1.001911320130381,
+            "required_z": 0.8611065676194111,
+            "initial_z": 0.7611065676194111,
+            "lift_margin": 0.14080475251097002,
+            "gripper_z": 1.003697961796256,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2271008047999375,
+              0.29265480450185766,
+              1.003697961796256
+            ],
+            "object_minus_gripper": [
+              0.005504160451733103,
+              0.005009646586432714,
+              -0.001786641665874944
+            ],
+            "object_to_gripper_xy": 0.0074426031198351365,
+            "object_to_gripper_z": -0.001786641665874944,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2326049652516706,
+              0.2727293084227354,
+              1.001911320130381
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+            "finger_b": [
+              0.2207797144299171,
+              0.29766445108829037,
+              1.001911320130381
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+            "finger_midpoint": [
+              0.22669233984079384,
+              0.2851968797555129,
+              1.001911320130381
+            ],
+            "object_minus_finger_midpoint": [
+              0.005912625410876754,
+              0.012467571332777483,
+              0.0
+            ],
+            "finger_gap": 0.027597063190654213,
+            "fingertip_max_gap": 0.0904575038664154,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047728751933207705,
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+            "object_upright_reference_source": "scene_initial",
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23752557356018633,
+              -0.023059425854275995,
+              0.756586388199276
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+            "gripper_position": [
+              0.24188173653194436,
+              -0.0360142127988685,
+              1.0236228333615498
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+              -0.031174563014936554,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0048396497839319486,
+              -0.0018489870767564032
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+            "held_gripper_dist": 0.0076407819654295585,
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+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "gripper_z": 1.0236228333615498,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.04089001786832,
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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": 2.5145723035832623,
+            "max_source_tilt_deg": 89.81033267216546,
+            "source_upright_tilt_deg": 2.166588121957861,
+            "max_source_upright_tilt_deg": 89.7267335975285,
+            "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": 2.5145723035832623,
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+            "target_xy_drift": 1.9726458631267736e-07,
+            "max_target_xy_drift": 4.356041697415752e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                -0.0231,
+                0.7566
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+              "controller_target_position": [
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+                -0.0231,
+                0.7566
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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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+              "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_a",
+              "source_return_upright_error_deg": 2.1668524644788416,
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+              "wrist_compensated_return_position": -1.629695177078247
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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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",
+              "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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+                "robotiq_2f85",
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+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "link0",
+                "table",
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+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2772504085400835,
+              -0.381481585691006,
+              0.8470193973310469
+            ],
+            "target_position": [
+              0.27011320848195175,
+              -0.3819854932562347,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007154966631934096,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18565517032519896,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193973310469,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572989970369853,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08820300445374547,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15324428774648,
+            "release_required_pad_clearance": 0.05410150222687274,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2160595545854966,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008254408836364746,
+            "max_z_decrease": 0.008254408836364746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035014165359286635,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008254408836364746,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104571154669566,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008254408836364746,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00825471017706023,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12581314146518707,
+              -0.4382469654083252,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12581314146518707,
+              -0.4382469654083252,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1261520203665834,
+              -0.43904032743225746,
+              0.8035570121136916
+            ],
+            "closest_button": [
+              0.1257433146238327,
+              -0.43823701143264765,
+              0.7685544490814209
+            ],
+            "closest_ee_minus_button": [
+              0.0004087057427507035,
+              -0.0008033159996098105,
+              0.03500256303227067
+            ],
+            "button_min_z_position": [
+              0.1257433146238327,
+              -0.43823701143264765,
+              0.7685544490814209
+            ],
+            "min_active_finger_to_button": 0.1454849519358586,
+            "closest_active_finger": [
+              -0.0146721750497818,
+              -0.4225371479988098,
+              0.8110395073890686
+            ],
+            "closest_active_finger_button": [
+              0.1258096992969513,
+              -0.438242495059967,
+              0.7766293883323669
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404818743467331,
+              0.01570534706115717,
+              0.03441011905670166
+            ],
+            "min_contact_pad_to_button": 0.02104571154669566,
+            "closest_contact_pad": [
+              0.1257433146238327,
+              -0.4402624322581602,
+              0.7895024715414599
+            ],
+            "closest_contact_pad_button": [
+              0.1257433146238327,
+              -0.43823701143264765,
+              0.7685544490814209
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002025420825512547,
+              0.020948022460039017
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "511b94614e42efd3eb6fd8324e49dfd351275c2f8e7bb474e53e58dfb4394dbc",
+    "visual_seed": 5224953145703910630,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bab6a1e276646832e8e18416da0dc6e41fd0ef8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_18_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.0029672765455582
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+            "lift_margin": 0.141860589716858,
+            "gripper_z": 1.0044846394487716,
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+            "gripper_position": [
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+              0.29271933118010723,
+              1.0044846394487716
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+              0.005110340971862193,
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+            "object_to_gripper_z": -0.0015173629032134706,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23970687700180882,
+              0.27287453432203596,
+              1.0029672765455582
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+            "finger_b": [
+              0.22765559307973324,
+              0.2978296721519694,
+              1.0029672765455582
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+            "finger_midpoint": [
+              0.23368123504077104,
+              0.28535210323700266,
+              1.0029672765455582
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+            "object_minus_finger_midpoint": [
+              0.006025641961037775,
+              0.012477568914966763,
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+            "finger_gap": 0.0277126748669531,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010852126427596712,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.15953581721185142,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "fr3_joint4",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "mobile_translate_x",
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+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+            "max_z_decrease_with_ee_contact": 0.008162140846252441,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021073297451011105,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008162140846252441,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00816259008979933,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12042605876922603,
+              -0.4347316324710846,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12042605876922603,
+              -0.4347316324710846,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12141759349513545,
+              -0.4358712739930994,
+              0.8036535324522283
+            ],
+            "closest_button": [
+              0.12034042179584499,
+              -0.43473133444786066,
+              0.7686467170715332
+            ],
+            "closest_ee_minus_button": [
+              0.0010771716992904606,
+              -0.0011399395452387218,
+              0.035006815380695055
+            ],
+            "button_min_z_position": [
+              0.12034042179584499,
+              -0.43473133444786066,
+              0.7686467170715332
+            ],
+            "min_active_finger_to_button": 0.14491084460841155,
+            "closest_active_finger": [
+              -0.019736498594284058,
+              -0.42205214500427246,
+              0.8113178014755249
+            ],
+            "closest_active_finger_button": [
+              0.12042875587940212,
+              -0.43472594022750854,
+              0.776789128780365
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14016525447368616,
+              0.012673795223236084,
+              0.03452867269515991
+            ],
+            "min_contact_pad_to_button": 0.021073297451011105,
+            "closest_contact_pad": [
+              0.12034042179584499,
+              -0.4368535355076598,
+              0.7896128833429472
+            ],
+            "closest_contact_pad_button": [
+              0.12034042179584499,
+              -0.43473133444786066,
+              0.7686467170715332
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002122201059799156,
+              0.02096616627141401
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "349574c18f9f6a080805edd6f93bad60b578193697caac7513e38b9df264e90d",
+    "visual_seed": 8819090279093789938,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..239eede831f34318da520bdcd7b09982e07a145b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_19_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23365592612255198,
+              0.29742021928529033,
+              1.002635520907206
+            ],
+            "current_z": 1.002635520907206,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.1415285956599266,
+            "gripper_z": 1.0040776227314092,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22820805852693488,
+              0.2922283068193592,
+              1.0040776227314092
+            ],
+            "object_minus_gripper": [
+              0.005447867595617106,
+              0.005191912465931148,
+              -0.0014421018242032346
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+            "object_to_gripper_xy": 0.00752563727489348,
+            "object_to_gripper_z": -0.0014421018242032346,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23365592612255198,
+              0.272883489772185,
+              1.002635520907206
+            ],
+            "finger_b": [
+              0.22109882545428092,
+              0.29742021928529033,
+              1.002635520907206
+            ],
+            "finger_midpoint": [
+              0.22737737578841644,
+              0.2851518545287377,
+              1.002635520907206
+            ],
+            "object_minus_finger_midpoint": [
+              0.006278550334135546,
+              0.01226836475655263,
+              0.0
+            ],
+            "finger_gap": 0.027563234069905275,
+            "fingertip_max_gap": 0.09056767507659519,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01378161703495262,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002635520907206,
+            "object_top_z": 1.052651876278461,
+            "finger_top_clearance": 0.05001635537125493,
+            "fingertip_min_top_clearance": 0.01500490661137651,
+            "object_projection_between_fingers": 0.7924520703645634,
+            "object_to_finger_line_xy": 0.01117830301715606,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477838375382976,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.10356385067066134,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23807579893726905,
+              -0.021268930264900503,
+              0.7565862689899865
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+            "gripper_position": [
+              0.24470469790178184,
+              -0.03494174846037616,
+              1.0237015038491497
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+            "target_minus_gripper": [
+              -0.006628898964512797,
+              0.01367281819547566,
+              -0.2671152348591632
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+            "held_position": [
+              0.25044794475393584,
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+              1.0221975746200773
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+            "held_minus_target": [
+              0.01237214581666679,
+              -0.008842762337846068,
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+            "held_minus_gripper": [
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+              0.004830055857629592,
+              -0.0015039292290723871
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+            "xy_dist": 0.01519500769622211,
+            "held_xy_dist": 0.015207381032659582,
+            "held_gripper_dist": 0.007653504237841445,
+            "max_held_gripper_dist": 0.007693125865884095,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565862689899865,
+            "held_z": 1.0221975746200773,
+            "required_height": 0.7865862689899865,
+            "gripper_z": 1.0237015038491497,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.21785338907418,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 1.2937922598181344,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.693936793709681,
+            "max_source_tilt_deg": 89.97009607308459,
+            "source_upright_tilt_deg": 3.654736662204154,
+            "max_source_upright_tilt_deg": 89.93553228872841,
+            "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": 2.693936793709681,
+            "source_upright_return_tilt_deg": 3.654736662204154,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.407639295807643e-07,
+            "max_target_xy_drift": 9.65750525166272e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2381,
+                -0.0213,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2381,
+                -0.0213,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
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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"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2783757360242686,
+              -0.37592283122953046,
+              0.8470194956253467
+            ],
+            "target_position": [
+              0.2716654180355947,
+              -0.37622333751890374,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006717043362899632,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18455276114341235,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194956253467,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521516144870695,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549908315660594,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153300517925296,
+            "release_required_pad_clearance": 0.05274954157830297,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.549650636314198,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0080338716506958,
+            "max_z_decrease": 0.0080338716506958,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035042366168905284,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080338716506958,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020999881213780297,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0080338716506958,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008034495585658675,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12736535072326657,
+              -0.4324848055839538,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12736535072326657,
+              -0.4324848055839538,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12786958532000986,
+              -0.4324476591989519,
+              0.8038121195874375
+            ],
+            "closest_button": [
+              0.12726522982120508,
+              -0.4324859976768493,
+              0.7687749862670898
+            ],
+            "closest_ee_minus_button": [
+              0.0006043554988047761,
+              3.833847789741496e-05,
+              0.035037133320347635
+            ],
+            "button_min_z_position": [
+              0.12726522982120508,
+              -0.4324859976768493,
+              0.7687749862670898
+            ],
+            "min_active_finger_to_button": 0.14536067113783332,
+            "closest_active_finger": [
+              0.00033936649560928345,
+              -0.49428555369377136,
+              0.8105384707450867
+            ],
+            "closest_active_finger_button": [
+              0.12736038863658902,
+              -0.4324816167354583,
+              0.7762506008148193
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12702102214097974,
+              -0.061803936958313044,
+              0.034287869930267334
+            ],
+            "min_contact_pad_to_button": 0.020999881213780297,
+            "closest_contact_pad": [
+              0.12726522982120508,
+              -0.433743251312834,
+              0.7897371980847318
+            ],
+            "closest_contact_pad_button": [
+              0.12726522982120508,
+              -0.4324859976768493,
+              0.7687749862670898
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012572536359846676,
+              0.020962211817641907
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cddc9da0fe5c24078cc5a4185438e54aeb62439d1e42ffe3060ceb56e8dd1f25",
+    "visual_seed": 6807219542247865883,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e1b41bbcacca3266b052edbd38b125470e756b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_1_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
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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"
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+              "enabled": true
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "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_frames": 0,
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+            "release_min_pad_clearance": 0.15402897644924782,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007901608943939209,
+            "max_z_decrease": 0.007901608943939209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035113763427934146,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007901608943939209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02096347455937897,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007901608943939209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007902287565533178,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12433276325464246,
+              -0.4335208833217621,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12433276325464246,
+              -0.4335208833217621,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12538618166972762,
+              -0.43184809503237254,
+              0.8047173489510441
+            ],
+            "closest_button": [
+              0.12422583252191542,
+              -0.4335326254367829,
+              0.7696632146835327
+            ],
+            "closest_ee_minus_button": [
+              0.001160349147812198,
+              0.001684530404410356,
+              0.03505413426751136
+            ],
+            "button_min_z_position": [
+              0.12422934919595717,
+              -0.43352639675140386,
+              0.7689072489738464
+            ],
+            "min_active_finger_to_button": 0.14421436058665157,
+            "closest_active_finger": [
+              -0.0023193359375,
+              -0.4933653771877289,
+              0.8106681108474731
+            ],
+            "closest_active_finger_button": [
+              0.12432811409234999,
+              -0.43351843953132635,
+              0.7763672471046448
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12664745002985,
+              -0.05984693765640253,
+              0.03430086374282837
+            ],
+            "min_contact_pad_to_button": 0.02096347455937897,
+            "closest_contact_pad": [
+              0.12422934919595717,
+              -0.43352639675140386,
+              0.7898707235332254
+            ],
+            "closest_contact_pad_button": [
+              0.12422934919595717,
+              -0.43352639675140386,
+              0.7689072489738464
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02096347455937897
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0af8b9730ad322fb74644f72902411a0d651915955a776900a4556a44b868d91",
+    "visual_seed": 5945008367344658491,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..12cb3714ebfc70aa22f660d98d621902b8c30571
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_20_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23626858971340375,
+              0.3036644668648544,
+              1.0031179201780611
+            ],
+            "current_z": 1.0031179201780611,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.14201117374471595,
+            "gripper_z": 1.0046958189561728,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23068539355290826,
+              0.29856236203922826,
+              1.0046958189561728
+            ],
+            "object_minus_gripper": [
+              0.0055831961604954905,
+              0.005102104825626119,
+              -0.0015778987781116527
+            ],
+            "object_to_gripper_xy": 0.0075633030494783775,
+            "object_to_gripper_z": -0.0015778987781116527,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23626858971340375,
+              0.27874094516959946,
+              1.0031179201780611
+            ],
+            "finger_b": [
+              0.2242185100380724,
+              0.3036644668648544,
+              1.0031179201780611
+            ],
+            "finger_midpoint": [
+              0.23024354987573808,
+              0.2912027060172269,
+              1.0031179201780611
+            ],
+            "object_minus_finger_midpoint": [
+              0.006025039837665669,
+              0.012461760847627457,
+              0.0
+            ],
+            "finger_gap": 0.02768368389278559,
+            "fingertip_max_gap": 0.09051618709680154,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01384184194639279,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0031179201780611,
+            "object_top_z": 1.0531772974962428,
+            "finger_top_clearance": 0.050059377318181664,
+            "fingertip_min_top_clearance": 0.015017813195454482,
+            "object_projection_between_fingers": 0.8105336564938509,
+            "object_to_finger_line_xy": 0.010848643676932682,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775809354840077,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19911455795772315,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52dfa3abe88d09b9f12fc817d4cbe4a4b491b8a10169076ab83d4452208b44cf",
+    "visual_seed": 5330549132630794786,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e17a7eeb1fedccf06261b4c8fa22dd186cc854b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_21_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.235376217175779,
+              0.30240450305106553,
+              1.0007585126189027
+            ],
+            "current_z": 1.0007585126189027,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.13965170658091264,
+            "gripper_z": 1.0020950366128683,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22993186375141955,
+              0.29744173659922823,
+              1.0020950366128683
+            ],
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+              0.005444353424359449,
+              0.004962766451837297,
+              -0.0013365239939655549
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+            "object_to_gripper_xy": 0.007366819874600995,
+            "object_to_gripper_z": -0.0013365239939655549,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.235376217175779,
+              0.2774804473608838,
+              1.0007585126189027
+            ],
+            "finger_b": [
+              0.22365754201241697,
+              0.30240450305106553,
+              1.0007585126189027
+            ],
+            "finger_midpoint": [
+              0.229516879594098,
+              0.28994247520597466,
+              1.0007585126189027
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+            "object_minus_finger_midpoint": [
+              0.005859337581681001,
+              0.012462027845090873,
+              0.0
+            ],
+            "finger_gap": 0.0275415304518772,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0007585126189027,
+            "object_top_z": 1.0508348141953994,
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+            "object_to_finger_line_xy": 0.010604963035628148,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04776278097316097,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23650161964646557,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.02479193916280108,
+              0.7565864478039208
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+              -0.038195745674235976,
+              1.024671047753628
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+              -0.03347868075106451,
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+            "held_minus_target": [
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+              0.004717064923171463,
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+            "held_gripper_dist": 0.007474681760168458,
+            "max_held_gripper_dist": 0.007502394488149695,
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+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.10425368279853,
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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": 89.86808490723207,
+            "source_upright_tilt_deg": 2.6422829163750965,
+            "max_source_upright_tilt_deg": 89.98964386962878,
+            "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": 1.0849808066495283e-07,
+            "max_target_xy_drift": 2.0902331321159336e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                -0.0248,
+                0.7566
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+              "controller_target_position": [
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+                -0.0248,
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+              "controller_target_minus_raw_target": [
+                -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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+              "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
+                ],
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              0.0002
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0219
+            ],
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2731571997585349,
+              -0.37784569525725387,
+              0.8470195822607842
+            ],
+            "target_position": [
+              0.26640630588413866,
+              -0.37820835879682685,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006760628147317121,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863043188651667,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195822607842,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577647619732486,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08715567456411512,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15370110779850368,
+            "release_required_pad_clearance": 0.05357783728205756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.165272292811584,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00787883996963501,
+            "max_z_decrease": 0.00787883996963501,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509929012167251,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00787883996963501,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021182865901640528,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00787883996963501,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00787936718387902,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12210623174905777,
+              -0.4344698190689087,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12210623174905777,
+              -0.4344698190689087,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12002225177559189,
+              -0.4362848122296851,
+              0.8053417123398232
+            ],
+            "closest_button": [
+              0.12202429026365279,
+              -0.43447133898735046,
+              0.7703465223312378
+            ],
+            "closest_ee_minus_button": [
+              -0.002002038488060895,
+              -0.0018134732423346622,
+              0.03499519000858542
+            ],
+            "button_min_z_position": [
+              0.12201513350009918,
+              -0.4344728291034699,
+              0.7689300179481506
+            ],
+            "min_active_finger_to_button": 0.1477588006871331,
+            "closest_active_finger": [
+              -0.02066613733768463,
+              -0.4180757403373718,
+              0.8107487559318542
+            ],
+            "closest_active_finger_button": [
+              0.12209978699684143,
+              -0.43446579575538635,
+              0.7763696908950806
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14276592433452606,
+              0.016390055418014526,
+              0.03437906503677368
+            ],
+            "min_contact_pad_to_button": 0.021182865901640528,
+            "closest_contact_pad": [
+              0.12201513350009918,
+              -0.4377038321265837,
+              0.7898650227790914
+            ],
+            "closest_contact_pad_button": [
+              0.12201513350009918,
+              -0.4344728291034699,
+              0.7689300179481506
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0032310030231137987,
+              0.020935004830940795
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a07b8b084eeb4c5fab51ad15261f19c7911e7485b861a018685fafc2772f9cf5",
+    "visual_seed": 3827910502502439542,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e019c650a5904cde986ab253ba373d0ce3a261d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_22_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23454659372730435,
+              0.29630155097591987,
+              1.0008353474110145
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+            "current_z": 1.0008353474110145,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.13972866058231437,
+            "gripper_z": 1.002451061790677,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22901615312505372,
+              0.29130303205310104,
+              1.002451061790677
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+            "object_minus_gripper": [
+              0.005530440602250636,
+              0.004998518922818829,
+              -0.0016157143796624585
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+            "object_to_gripper_z": -0.0016157143796624585,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23454659372730435,
+              0.27137854650619975,
+              1.0008353474110145
+            ],
+            "finger_b": [
+              0.22268862902322564,
+              0.29630155097591987,
+              1.0008353474110145
+            ],
+            "finger_midpoint": [
+              0.22861761137526498,
+              0.28384004874105984,
+              1.0008353474110145
+            ],
+            "object_minus_finger_midpoint": [
+              0.005928982352039369,
+              0.012461502234860034,
+              0.0
+            ],
+            "finger_gap": 0.02760013548374112,
+            "fingertip_max_gap": 0.09048094025846384,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0008353474110145,
+            "object_top_z": 1.0508970345252973,
+            "finger_top_clearance": 0.050061687114282716,
+            "fingertip_min_top_clearance": 0.015018506134284848,
+            "object_projection_between_fingers": 0.8154143740038807,
+            "object_to_finger_line_xy": 0.010707777412746157,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047740470129231924,
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007675647735595703,
+            "max_z_decrease": 0.007675647735595703,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503928935825535,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007675647735595703,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020983925138143324,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007675647735595703,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007676221975124698,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12252089381217954,
+              -0.43067169189453125,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12252089381217954,
+              -0.43067169189453125,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12151936925994081,
+              -0.4305113892978516,
+              0.8041603423423332
+            ],
+            "closest_button": [
+              0.12242719531059262,
+              -0.43067771196365356,
+              0.7691332101821899
+            ],
+            "closest_ee_minus_button": [
+              -0.0009078260506518165,
+              0.00016632266580196564,
+              0.035027132160143304
+            ],
+            "button_min_z_position": [
+              0.12242719531059262,
+              -0.43067771196365356,
+              0.7691332101821899
+            ],
+            "min_active_finger_to_button": 0.1466456220625485,
+            "closest_active_finger": [
+              -0.006231263279914856,
+              -0.4919124245643616,
+              0.810822606086731
+            ],
+            "closest_active_finger_button": [
+              0.12251552939414975,
+              -0.43066892027854914,
+              0.7764942646026611
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1287467926740646,
+              -0.06124350428581243,
+              0.034328341484069824
+            ],
+            "min_contact_pad_to_button": 0.020983925138143324,
+            "closest_contact_pad": [
+              0.12242719531059262,
+              -0.43184929810057615,
+              0.7900844034686587
+            ],
+            "closest_contact_pad_button": [
+              0.12242719531059262,
+              -0.43067771196365356,
+              0.7691332101821899
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011715861369225866,
+              0.020951193286468772
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d36615d965579ea2b2f5835da6dc69ee5190b8c6ed02cc1d1a5a3db3547ce303",
+    "visual_seed": 50112721340861694,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ccab27b06cb23fd75691f9b2e42c7d5a4436806
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_23_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23089802601934933,
+              0.3054940302521749,
+              1.0010754377176867
+            ],
+            "current_z": 1.0010754377176867,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.13996863167969675,
+            "gripper_z": 1.0026800315471407,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22550301103588077,
+              0.3004558259081753,
+              1.0026800315471407
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+              0.00539501498346856,
+              0.005038204343999597,
+              -0.001604593829453993
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+            "object_to_gripper_xy": 0.0073817131943571665,
+            "object_to_gripper_z": -0.001604593829453993,
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+            "finger_a": [
+              0.23089802601934933,
+              0.2808076719398545,
+              1.0010754377176867
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+            "finger_b": [
+              0.2188123868735524,
+              0.3054940302521749,
+              1.0010754377176867
+            ],
+            "finger_midpoint": [
+              0.22485520644645085,
+              0.2931508510960147,
+              1.0010754377176867
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+            "object_minus_finger_midpoint": [
+              0.0060428195728984835,
+              0.012343179156160233,
+              0.0
+            ],
+            "finger_gap": 0.027485977521032254,
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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": 0.8066621557442298,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04768418287503842,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565865074085656
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+              -0.03340075515023391,
+              1.0253941892783796
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+              0.004693066576624785,
+              -0.0016657774542339077
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+            "max_held_gripper_dist": 0.0075966029510991665,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565865074085656,
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+            "gripper_z": 1.0253941892783796,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.03150533794872,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.4455607264044503,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.2178696075330455,
+            "max_source_tilt_deg": 89.62747223933572,
+            "source_upright_tilt_deg": 3.4255855264961395,
+            "max_source_upright_tilt_deg": 89.6111065498523,
+            "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": 3.2178696075330455,
+            "source_upright_return_tilt_deg": 3.4255855264961395,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.862645149230957e-08,
+            "max_target_xy_drift": 2.625272627758088e-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,
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+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6db03d67a1d4227a3ab7f618de73cf03035b127c384eca5b1b68cd94f62c584",
+    "visual_seed": 2292153881418924071,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da7ead69c92f025c2b3a0fc020e2960b81c6ec4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_24_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.0036755277654135
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+              0.294325798809076,
+              1.0052936066330034
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+              0.005142493014687166,
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+              1.0036755277654135
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+              1.0036755277654135
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+              0.28717677216945214,
+              1.0036755277654135
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+            "stable_success_frames": 166,
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+          "failure_code": null,
+          "failure_messages": {},
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "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": {},
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+            "target_position": [
+              0.2683850083421017,
+              -0.37425236363688047,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007184258064810598,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18644086705699012,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019590869506,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534907009272443,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656122718255059,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548668979028155,
+            "release_required_pad_clearance": 0.0532806135912753,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5801250473841906,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007961809635162354,
+            "max_z_decrease": 0.007961809635162354,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509963865538564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007961809635162354,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021189753353105273,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007961809635162354,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007962457976678584,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12408493459224701,
+              -0.43051382899284363,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12408493459224701,
+              -0.43051382899284363,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12477126448697132,
+              -0.4323533375735062,
+              0.8038900063170732
+            ],
+            "closest_button": [
+              0.12398362159729004,
+              -0.43052157759666443,
+              0.7688470482826233
+            ],
+            "closest_ee_minus_button": [
+              0.0007876428896812782,
+              -0.0018317599768417625,
+              0.0350429580344499
+            ],
+            "button_min_z_position": [
+              0.12398362159729004,
+              -0.43052157759666443,
+              0.7688470482826233
+            ],
+            "min_active_finger_to_button": 0.14502821316547754,
+            "closest_active_finger": [
+              -0.01597580313682556,
+              -0.41522637009620667,
+              0.8107039928436279
+            ],
+            "closest_active_finger_button": [
+              0.12408117204904556,
+              -0.4305119812488556,
+              0.776300847530365
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14005697518587112,
+              0.015285611152648926,
+              0.03440314531326294
+            ],
+            "min_contact_pad_to_button": 0.021189753353105273,
+            "closest_contact_pad": [
+              0.12398362159729004,
+              -0.4336262014026074,
+              0.7898081302725638
+            ],
+            "closest_contact_pad_button": [
+              0.12398362159729004,
+              -0.43052157759666443,
+              0.7688470482826233
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003104623805942952,
+              0.02096108198994051
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1211fb20fcc18c1936f79b714438d81b16b13ad18b392187f85b2a3a85349efc",
+    "visual_seed": 6043232223869309284,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..662ff4800daa5225c5ca0fc2939999f048f0e260
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_25_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23378363593030033,
+              0.2936074447680204,
+              1.003642200892708
+            ],
+            "current_z": 1.003642200892708,
+            "required_z": 0.861106984851924,
+            "initial_z": 0.7611069848519241,
+            "lift_margin": 0.1425352160407839,
+            "gripper_z": 1.0053336119237934,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22822285102857984,
+              0.28853000675988194,
+              1.0053336119237934
+            ],
+            "object_minus_gripper": [
+              0.005560784901720489,
+              0.0050774380081384796,
+              -0.001691411031085499
+            ],
+            "object_to_gripper_xy": 0.007530119882823367,
+            "object_to_gripper_z": -0.001691411031085499,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23378363593030033,
+              0.2686854538728377,
+              1.003642200892708
+            ],
+            "finger_b": [
+              0.2217880773111121,
+              0.2936074447680204,
+              1.003642200892708
+            ],
+            "finger_midpoint": [
+              0.22778585662070622,
+              0.2811464493204291,
+              1.003642200892708
+            ],
+            "object_minus_finger_midpoint": [
+              0.005997779309594109,
+              0.012460995447591328,
+              0.0
+            ],
+            "finger_gap": 0.027658616320523893,
+            "fingertip_max_gap": 0.0905904532006919,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013829308160261922,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.003642200892708,
+            "object_top_z": 1.0537570041114588,
+            "finger_top_clearance": 0.050114803218750836,
+            "fingertip_min_top_clearance": 0.01503444096562525,
+            "object_projection_between_fingers": 0.811903785614203,
+            "object_to_finger_line_xy": 0.010808682517794758,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779522660034595,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24581386303600727,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            "closest_active_finger_minus_button": [
+              -0.12692849338054657,
+              -0.060695350170135554,
+              0.03428852558135986
+            ],
+            "min_contact_pad_to_button": 0.02094978505222515,
+            "closest_contact_pad": [
+              0.12391944229602815,
+              -0.4399334253714492,
+              0.7895160402433423
+            ],
+            "closest_contact_pad_button": [
+              0.12391944229602815,
+              -0.4390109181404114,
+              0.7685865759849548
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009225072310378168,
+              0.020929464258387487
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf79ee34de188341d9d6f124d0b7716ad19fd91ba380310bfa3a5677676aa8cf",
+    "visual_seed": 4943930996468529573,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06e074e263bbb2a6a7ec93a768ae4142a7eb3b26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_27_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23360327097806768,
+              0.2990032992742356,
+              1.0026907770884523
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+            "current_z": 1.0026907770884523,
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+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.14158391144581772,
+            "gripper_z": 1.004583308490565,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2281458671900081,
+              0.29402389163139764,
+              1.004583308490565
+            ],
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+              0.005457403788059589,
+              0.004979407642837941,
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+            "object_to_gripper_xy": 0.007387675993130726,
+            "object_to_gripper_z": -0.0018925314021127626,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23360327097806768,
+              0.2740911017217061,
+              1.0026907770884523
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+            "finger_b": [
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+              0.2990032992742356,
+              1.0026907770884523
+            ],
+            "finger_midpoint": [
+              0.22771906475113068,
+              0.28654720049797083,
+              1.0026907770884523
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+            "object_minus_finger_midpoint": [
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+              0.012456098776264746,
+              0.0
+            ],
+            "finger_gap": 0.027552007523604382,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.01064085859004598,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04774832561407802,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2969054219988606,
+            "object_max_tilt_deg": 15.0,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.024557044708321853,
+              0.7565863285946313
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+              -0.03798705430474124,
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+              0.004808846657277287,
+              -0.001958521333760288
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+            "max_held_gripper_dist": 0.00768511676217472,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865863285946313,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.11051696626743,
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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": 89.83765773691974,
+            "source_upright_tilt_deg": 1.9734294400858021,
+            "max_source_upright_tilt_deg": 89.81501258543254,
+            "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": 2.425079203561293,
+            "source_upright_return_tilt_deg": 1.9734294400858021,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.529613272737943e-08,
+            "max_target_xy_drift": 8.240305089306788e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.7566
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+              "controller_target_position": [
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+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
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+              "tilt_strategy": "wrist_velocity",
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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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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_a",
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+          },
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint4",
+                "joint5",
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+                "left_inner_finger",
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+                "mobile_translate_y",
+                "panda_joint1",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+              ],
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+            },
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2776182244603598,
+              -0.37892126539358795,
+              0.8470194434407822
+            ],
+            "target_position": [
+              0.27072590317261036,
+              -0.3791798235958204,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006897169352531909,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18483595016718388,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194434407822,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532191581390998,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863626601993664,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15330104966195499,
+            "release_required_pad_clearance": 0.053181330099683205,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3859022553648832,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008193492889404297,
+            "max_z_decrease": 0.008193492889404297,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504467356568942,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008193492889404297,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02097164755196048,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008193492889404297,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 5.960464477539063e-08,
+            "button_max_displacement": 0.008193762391895952,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1264258325099945,
+              -0.43544128537178045,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1264258325099945,
+              -0.43544128537178045,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.12423483620269152,
+              -0.43597097713768757,
+              0.8035915079535364
+            ],
+            "closest_button": [
+              0.1263594776391983,
+              -0.43543761968612676,
+              0.7686153650283813
+            ],
+            "closest_ee_minus_button": [
+              -0.0021246414365067856,
+              -0.0005333574515608008,
+              0.03497614292515505
+            ],
+            "button_min_z_position": [
+              0.1263594776391983,
+              -0.43543761968612676,
+              0.7686153650283813
+            ],
+            "min_active_finger_to_button": 0.1479917013919755,
+            "closest_active_finger": [
+              -0.01680595427751541,
+              -0.42131853103637695,
+              0.811203122138977
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+            "closest_active_finger_button": [
+              0.12642589211463928,
+              -0.43543741106987005,
+              0.7767525911331177
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1432318463921547,
+              0.014118880033493098,
+              0.034450531005859375
+            ],
+            "min_contact_pad_to_button": 0.02097164755196048,
+            "closest_contact_pad": [
+              0.1263594776391983,
+              -0.43702593824265623,
+              0.7895267792609634
+            ],
+            "closest_contact_pad_button": [
+              0.1263594776391983,
+              -0.43543761968612676,
+              0.7686153650283813
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015883185565294666,
+              0.020911414232582026
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db34fda5b33d6d17b7955fda7d34f4bbe63168c4b4cf566a27a1576e1204edc2",
+    "visual_seed": 1257406917593176426,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba252df9dbc311e2afdbf0ee4d23d384726e91c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_28_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.29341898938689476,
+              1.0006028068828958
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+            "current_z": 1.0006028068828958,
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+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.13949623926348498,
+            "gripper_z": 1.0024602306048156,
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+            "gripper_position": [
+              0.22716018346169684,
+              0.28829860624178466,
+              1.0024602306048156
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+              0.005608483981326712,
+              0.005120383145110097,
+              -0.001857423721919771
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+            "object_to_gripper_xy": 0.007594301555872395,
+            "object_to_gripper_z": -0.001857423721919771,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23276866744302355,
+              0.2684959284012836,
+              1.0006028068828958
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+            "finger_b": [
+              0.22067335123666748,
+              0.29341898938689476,
+              1.0006028068828958
+            ],
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008025646209716797,
+            "max_z_decrease": 0.008025646209716797,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035058005221917314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008025646209716797,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02098056561943573,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008025646209716797,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008026360043700087,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1223800927400589,
+              -0.4352243542671204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1223800927400589,
+              -0.4352243542671204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12318027207795978,
+              -0.43400968730450845,
+              0.804169364067118
+            ],
+            "closest_button": [
+              0.12227941304445267,
+              -0.43523484468460083,
+              0.7691443562507629
+            ],
+            "closest_ee_minus_button": [
+              0.0009008590335071176,
+              0.0012251573800923787,
+              0.03502500781635509
+            ],
+            "button_min_z_position": [
+              0.12227343767881393,
+              -0.435233473777771,
+              0.7687832117080688
+            ],
+            "min_active_finger_to_button": 0.14465980647292814,
+            "closest_active_finger": [
+              -0.0030768290162086487,
+              -0.4984825849533081,
+              0.8107469081878662
+            ],
+            "closest_active_finger_button": [
+              0.12237816303968428,
+              -0.43521940708160406,
+              0.7763190865516663
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12545499205589294,
+              -0.06326317787170405,
+              0.03442782163619995
+            ],
+            "min_contact_pad_to_button": 0.02098056561943573,
+            "closest_contact_pad": [
+              0.12227343767881393,
+              -0.435233473777771,
+              0.7897637773275046
+            ],
+            "closest_contact_pad_button": [
+              0.12227343767881393,
+              -0.435233473777771,
+              0.7687832117080688
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02098056561943573
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a834fa4292e01ad6af5f2a45a541d51a04c7fa5807caa0d33f22ceb87820b55",
+    "visual_seed": 349782105767867112,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d56f72c8a1ecff7d72e0e474cc21a0fb39c6549
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_29_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23421344607710864,
+              0.29727695079027167,
+              1.0017577313811636
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+            "current_z": 1.0017577313811636,
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+            "initial_z": 0.7611069252472795,
+            "lift_margin": 0.14065080613388414,
+            "gripper_z": 1.003500237211875,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22871263511980516,
+              0.2921416982572302,
+              1.003500237211875
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+              0.005500810957303481,
+              0.005135252533041479,
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+            "object_to_gripper_xy": 0.0075252734014186464,
+            "object_to_gripper_z": -0.0017425058307114494,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23421344607710864,
+              0.27257072564580886,
+              1.0017577313811636
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+            "finger_b": [
+              0.22190836600548744,
+              0.29727695079027167,
+              1.0017577313811636
+            ],
+            "finger_midpoint": [
+              0.22806090604129803,
+              0.28492383821804024,
+              1.0017577313811636
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+              0.006152540035810616,
+              0.012353112572231428,
+              0.0
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+            "finger_gap": 0.02760095209332271,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.011014550427181208,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779190201436605,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.10564301743848496,
+            "object_max_tilt_deg": 15.0,
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+              1.0
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+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23909214753765673,
+              -0.025241559350083632,
+              0.7565863285946313
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+            "gripper_position": [
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+              -0.03862382433399589,
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+              0.004837809730196423,
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+            "xy_dist": 0.014912537918637806,
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+            "held_gripper_dist": 0.007715222667355993,
+            "max_held_gripper_dist": 0.007780193676648587,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
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+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0239097481433168,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.17764406543031,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.6219875495850076,
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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01a1c457cae0223957aa4a161a0492a94faa6b7a55fe3b5abee6dc1eebc73b38",
+    "visual_seed": 2087788974332251158,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd489d14b577c42712e42d1008d9735b4c701463
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_2_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              0.26980148493890543,
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+            "stable_success_frames": 166,
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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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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "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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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.37647560805158137,
+              0.8470198362944777
+            ],
+            "target_position": [
+              0.2667917625022051,
+              -0.37627356863202116,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006652503946182843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1875413974398443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198362944777,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562402109460004,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710172438910578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15514505447182372,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1118351607070833,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007848381996154785,
+            "max_z_decrease": 0.007848381996154785,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035037458254401,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007848381996154785,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021008459509366133,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007848381996154785,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007848854601378588,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12249168753623962,
+              -0.4325350224971771,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12249168753623962,
+              -0.4325350224971771,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12207184893622744,
+              -0.4322800732684402,
+              0.8044544154431473
+            ],
+            "closest_button": [
+              0.1224025636911392,
+              -0.4325412213802338,
+              0.7694194912910461
+            ],
+            "closest_ee_minus_button": [
+              -0.00033071475491175395,
+              0.00026114811179361874,
+              0.03503492415210119
+            ],
+            "button_min_z_position": [
+              0.12240564078092574,
+              -0.4325388371944428,
+              0.7689604759216309
+            ],
+            "min_active_finger_to_button": 0.146145939364284,
+            "closest_active_finger": [
+              -0.00528552383184433,
+              -0.4945964813232422,
+              0.8107672929763794
+            ],
+            "closest_active_finger_button": [
+              0.12248766422271727,
+              -0.43253168463706976,
+              0.7764073014259338
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12777318805456161,
+              -0.06206479668617243,
+              0.03435999155044556
+            ],
+            "min_contact_pad_to_button": 0.021008459509366133,
+            "closest_contact_pad": [
+              0.12240564078092574,
+              -0.4335501606494248,
+              0.7899445793293555
+            ],
+            "closest_contact_pad_button": [
+              0.12240564078092574,
+              -0.4325388371944428,
+              0.7689604759216309
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001011323454982005,
+              0.020984103407724608
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "14c28c8a5c5a950357c75d49868873d80af124567e7980dddfa77b9d59b00f5d",
+    "visual_seed": 215422081939673279,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcf7ca94d452933a40e237ad5efc5e740f722c05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_30_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2376104006075919,
+              0.2960056622175777,
+              1.0034979690921024
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+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14239128226340214,
+            "gripper_z": 1.0046182467244926,
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+            "gripper_position": [
+              0.23225939664909598,
+              0.29088224555950865,
+              1.0046182467244926
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+              0.005351003958495915,
+              0.0051234166580690355,
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+            "object_to_gripper_z": -0.0011202776323901986,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2376104006075919,
+              0.2714568302563682,
+              1.0034979690921024
+            ],
+            "finger_b": [
+              0.22525211513233448,
+              0.2960056622175777,
+              1.0034979690921024
+            ],
+            "finger_midpoint": [
+              0.2314312578699632,
+              0.28373124623697293,
+              1.0034979690921024
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+            "object_minus_finger_midpoint": [
+              0.006179142737628707,
+              0.012274415980604747,
+              0.0
+            ],
+            "finger_gap": 0.027484038468675944,
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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": 1.0535859098982916,
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+            "object_to_finger_line_xy": 0.011038460516147213,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047918206153254775,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.018770322626873857,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
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+            "button_final": [
+              0.12401358783245085,
+              -0.4306196868419648,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12422581930782961,
+              -0.4301757923639693,
+              0.8043625022617765
+            ],
+            "closest_button": [
+              0.12390380352735518,
+              -0.4306259751319886,
+              0.7693431973457336
+            ],
+            "closest_ee_minus_button": [
+              0.00032201578047443,
+              0.0004501827680192805,
+              0.03501930491604288
+            ],
+            "button_min_z_position": [
+              0.1239170283079147,
+              -0.43062400817871094,
+              0.7689513564109802
+            ],
+            "min_active_finger_to_button": 0.14550728095924692,
+            "closest_active_finger": [
+              -0.00262664258480072,
+              -0.49349042773246765,
+              0.8107682466506958
+            ],
+            "closest_active_finger_button": [
+              0.12401165068149565,
+              -0.4306150078773499,
+              0.7763910293579102
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266382932662964,
+              -0.06287541985511774,
+              0.034377217292785645
+            ],
+            "min_contact_pad_to_button": 0.021006913329724423,
+            "closest_contact_pad": [
+              0.1239170283079147,
+              -0.43133384555555715,
+              0.7899462733801179
+            ],
+            "closest_contact_pad_button": [
+              0.1239170283079147,
+              -0.43062400817871094,
+              0.7689513564109802
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007098373768462118,
+              0.02099491696913769
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68cddb13bae93deca989912746b7c3c4199eead52a0d6758880ceea018e778f8",
+    "visual_seed": 8820345243895255810,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3844ed1976f6a0b85878841471a002f4c7a6d97e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_32_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23508676104616394,
+              0.3036459422036867,
+              1.002647533118807
+            ],
+            "current_z": 1.002647533118807,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.1415409058947511,
+            "gripper_z": 1.0045389664931574,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22947859380393335,
+              0.2985302044972138,
+              1.0045389664931574
+            ],
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+              0.005608167242230594,
+              0.005115737706472889,
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+            ],
+            "object_to_gripper_xy": 0.007590936180620728,
+            "object_to_gripper_z": -0.001891433374350493,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23508676104616394,
+              0.2787696876129844,
+              1.002647533118807
+            ],
+            "finger_b": [
+              0.22294050932599158,
+              0.3036459422036867,
+              1.002647533118807
+            ],
+            "finger_midpoint": [
+              0.22901363518607776,
+              0.2912078149083355,
+              1.002647533118807
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060731258600861815,
+              0.012438127295351153,
+              0.0
+            ],
+            "finger_gap": 0.027683198393813307,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002647533118807,
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+            "fingertip_min_top_clearance": 0.015008410055342463,
+            "object_projection_between_fingers": 0.8074905628655603,
+            "object_to_finger_line_xy": 0.010914679937463048,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771057774008233,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21921618631471224,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.020516581812094026,
+              0.7565863285946313
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+            "gripper_position": [
+              0.24472494600790523,
+              -0.031041945090614143,
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+            "target_minus_gripper": [
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+              0.010525363278520116,
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+            "held_minus_target": [
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+              0.0048115336819518,
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+            "held_gripper_dist": 0.00781299254398065,
+            "max_held_gripper_dist": 0.007887672659702515,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0251527424484,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.9744527678116,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.2596988688122731,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.0216984212467533,
+            "max_source_tilt_deg": 89.77407273357463,
+            "source_upright_tilt_deg": 2.9470083936633835,
+            "max_source_upright_tilt_deg": 89.62375871611938,
+            "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": 3.0216984212467533,
+            "source_upright_return_tilt_deg": 2.9470083936633835,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.212420496076663e-07,
+            "max_target_xy_drift": 8.127303722315838e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2387,
+                -0.0205,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0205,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              ],
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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,
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+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
+                "joint4",
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+                "left_inner_finger",
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+                "mobile_rotate",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2763771436790573,
+              -0.37865665847502933,
+              0.847020151977871
+            ],
+            "target_position": [
+              0.2693208269838052,
+              -0.3784047284616158,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007060812561975558,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18748609154393853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847020151977871,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535827805634258,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576116976279495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15574104889448204,
+            "release_required_pad_clearance": 0.05288058488139748,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7972010374115536,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007995367050170898,
+            "max_z_decrease": 0.007995367050170898,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506402047492613,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007995367050170898,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020968374646226806,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007995367050170898,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007995945510341067,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12502075731754303,
+              -0.43466618657112127,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12502075731754303,
+              -0.43466618657112127,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12310187140196949,
+              -0.4335649669377464,
+              0.8049546401395978
+            ],
+            "closest_button": [
+              0.12493260204792023,
+              -0.43467152118682867,
+              0.7699559330940247
+            ],
+            "closest_ee_minus_button": [
+              -0.00183073064595074,
+              0.0011065542490822922,
+              0.034998707045573174
+            ],
+            "button_min_z_position": [
+              0.12492470443248749,
+              -0.4346711039543152,
+              0.7688134908676147
+            ],
+            "min_active_finger_to_button": 0.147149779640072,
+            "closest_active_finger": [
+              -0.0029527395963668823,
+              -0.4986325204372406,
+              0.810774028301239
+            ],
+            "closest_active_finger_button": [
+              0.12501588463783264,
+              -0.4346639811992646,
+              0.7763485312461853
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12796862423419952,
+              -0.06396853923797602,
+              0.03442549705505371
+            ],
+            "min_contact_pad_to_button": 0.020968374646226806,
+            "closest_contact_pad": [
+              0.12492470443248749,
+              -0.4346711039543152,
+              0.7897818655138416
+            ],
+            "closest_contact_pad_button": [
+              0.12492470443248749,
+              -0.4346711039543152,
+              0.7688134908676147
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020968374646226806
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eece33217b0994f7d8fd6474fcaf874703c7a1789e2866e600d75c1d2545fdcb",
+    "visual_seed": 3128879865422429553,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4acd7e5eab52354e412ab6fb8ed39d28b2d31fce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_33_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2389487462807813,
+              0.29561972651388263,
+              1.0020431179838536
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00818324089050293,
+            "max_z_decrease": 0.00818324089050293,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499281500686352,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00818324089050293,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021022183708102864,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00818324089050293,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008184038552014732,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12553977966308588,
+              -0.43465653061866766,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12553977966308588,
+              -0.43465653061866766,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12528641587483139,
+              -0.43542068768802084,
+              0.8036816411776725
+            ],
+            "closest_button": [
+              0.1254292875528335,
+              -0.43465209007263184,
+              0.7686975598335266
+            ],
+            "closest_ee_minus_button": [
+              -0.00014287167800211553,
+              -0.0007685976153889995,
+              0.03498408134414588
+            ],
+            "button_min_z_position": [
+              0.12542583048343653,
+              -0.43464809656143194,
+              0.7686256170272827
+            ],
+            "min_active_finger_to_button": 0.14611073201816363,
+            "closest_active_finger": [
+              -0.01586398482322693,
+              -0.4218842089176178,
+              0.8113007545471191
+            ],
+            "closest_active_finger_button": [
+              0.1255392432212829,
+              -0.4346520304679871,
+              0.7767977714538574
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14140322804450983,
+              0.012767821550369318,
+              0.03450298309326172
+            ],
+            "min_contact_pad_to_button": 0.021022183708102864,
+            "closest_contact_pad": [
+              0.12542583048343653,
+              -0.4363651987264717,
+              0.7895775565082005
+            ],
+            "closest_contact_pad_button": [
+              0.12542583048343653,
+              -0.43464809656143194,
+              0.7686256170272827
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017171021650397855,
+              0.02095193948091778
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ceb79e5f1f92db1be546138f59fe22bbc5f759af20346e33b9d9fa62baf2ce82",
+    "visual_seed": 6948672186235892399,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e083424eff92617f4057084fa0e9bdc1528d99c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_34_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.237492861474723,
+              0.29761880018726167,
+              1.0009308174540208
+            ],
+            "current_z": 1.0009308174540208,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.13982419022996517,
+            "gripper_z": 1.0026500572736188,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23184248319019357,
+              0.2925093706925915,
+              1.0026500572736188
+            ],
+            "object_minus_gripper": [
+              0.005650378284529439,
+              0.005109429494670192,
+              -0.0017192398195979841
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+            "object_to_gripper_xy": 0.007617942275922517,
+            "object_to_gripper_z": -0.0017192398195979841,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.237492861474723,
+              0.2726937341219441,
+              1.0009308174540208
+            ],
+            "finger_b": [
+              0.2253653634603522,
+              0.29761880018726167,
+              1.0009308174540208
+            ],
+            "finger_midpoint": [
+              0.2314291124675376,
+              0.28515626715460285,
+              1.0009308174540208
+            ],
+            "object_minus_finger_midpoint": [
+              0.006063749007185398,
+              0.012462533032658818,
+              0.0
+            ],
+            "finger_gap": 0.027718858678686856,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0009308174540208,
+            "object_top_z": 1.0510541114884462,
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+            "fingertip_min_top_clearance": 0.01503698821032765,
+            "object_projection_between_fingers": 0.8085780500908446,
+            "object_to_finger_line_xy": 0.010905163618717932,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047828994006010275,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21632870065874082,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.24076784271854965,
+              -0.01912308668453532,
+              0.7565863285946313
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+            "gripper_position": [
+              0.2472097436458059,
+              -0.03310184240560263,
+              1.0235039149185914
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+            "target_minus_gripper": [
+              -0.006441900927256244,
+              0.013978755721067306,
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+            "held_position": [
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+            "held_minus_target": [
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+              -0.00923281121162212,
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+            "held_minus_gripper": [
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+              0.004745944509445186,
+              -0.0017942775406056821
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+            "xy_dist": 0.01539167629161479,
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1dfe202b81bee040d6cd2568c0a04e789bf455ea9aa48bf28d237c457fb7d34",
+    "visual_seed": 4304593746667723368,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ad463951bbb65881e8a705f414530634e5fcc8b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_35_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23399220578128152,
+              0.29514425953404644,
+              1.0035951986361427
+            ],
+            "current_z": 1.0035951986361427,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1424884522027976,
+            "gripper_z": 1.0054015596268164,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22843444675812885,
+              0.29000684188655,
+              1.0054015596268164
+            ],
+            "object_minus_gripper": [
+              0.00555775902315267,
+              0.005137417647496423,
+              -0.001806360990673772
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+            "object_to_gripper_xy": 0.0075684704824847265,
+            "object_to_gripper_z": -0.001806360990673772,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23399220578128152,
+              0.27036140463377006,
+              1.0035951986361427
+            ],
+            "finger_b": [
+              0.22173260232961117,
+              0.29514425953404644,
+              1.0035951986361427
+            ],
+            "finger_midpoint": [
+              0.22786240405544633,
+              0.2827528320839082,
+              1.0035951986361427
+            ],
+            "object_minus_finger_midpoint": [
+              0.006129801725835188,
+              0.012391427450138215,
+              0.0
+            ],
+            "finger_gap": 0.027649372032658538,
+            "fingertip_max_gap": 0.09058236356723884,
+            "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": 1.0536546202708166,
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+            "object_projection_between_fingers": 0.8034005487817565,
+            "object_to_finger_line_xy": 0.010988603036582579,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779118178361942,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1434707425309494,
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+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23791103679794876,
+              -0.02443672900755244,
+              0.7565863285946313
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+            "gripper_position": [
+              0.245418664566584,
+              -0.03838519169831768,
+              1.0246587512621774
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+            "target_minus_gripper": [
+              -0.0075076277686352555,
+              0.013948462690765242,
+              -0.26807242266754616
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+            "held_position": [
+              0.2512748891509502,
+              -0.03363028819656006,
+              1.0227873553640205
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+            "held_minus_target": [
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+              -0.009193559189007623,
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+            "held_minus_gripper": [
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+              0.004754903501757619,
+              -0.0018713958981568801
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+            "held_gripper_dist": 0.007772168056675061,
+            "max_held_gripper_dist": 0.007840318374130054,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
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+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0246587512621774,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.1023207392634,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 0.43949375744425595,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.3647129745596414,
+            "max_source_tilt_deg": 89.6800555323663,
+            "source_upright_tilt_deg": 3.631534684409705,
+            "max_source_upright_tilt_deg": 89.7738133803509,
+            "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": 3.3647129745596414,
+            "source_upright_return_tilt_deg": 3.631534684409705,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.7943374184954607e-07,
+            "max_target_xy_drift": 6.545945659727333e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2379,
+                -0.0244,
+                0.7566
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+              "controller_target_position": [
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+                -0.0244,
+                0.7566
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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_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "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,
+                "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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+                  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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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6291404962539673
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0511,
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+            ],
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0904
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+            "pour_controller_height_range_1": [
+              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_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
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+                "robotiq_2f85",
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+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2728935137290156,
+              -0.38343862192496914,
+              0.8470190595555926
+            ],
+            "target_position": [
+              0.26676414055872594,
+              -0.3830431956827935,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006142115057019685,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18775537790200744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190595555926,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588108094620523,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08854455699991552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1547260388955868,
+            "release_required_pad_clearance": 0.05427227849995776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5616237492177714,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008132994174957275,
+            "max_z_decrease": 0.008132994174957275,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505239688693099,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008132994174957275,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020941295247003833,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008132994174957275,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008133409821954199,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12246406823396686,
+              -0.43930464982986445,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12246406823396686,
+              -0.43930464982986445,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12052294023621019,
+              -0.4377977507826325,
+              0.8040991244946747
+            ],
+            "closest_button": [
+              0.1223784759640694,
+              -0.4393059611320495,
+              0.7691283822059631
+            ],
+            "closest_ee_minus_button": [
+              -0.0018555357278592088,
+              0.0015082103494170052,
+              0.034970742288711554
+            ],
+            "button_min_z_position": [
+              0.1223818510770798,
+              -0.439303457736969,
+              0.7686758637428284
+            ],
+            "min_active_finger_to_button": 0.1469585157099332,
+            "closest_active_finger": [
+              -0.005575194954872131,
+              -0.5026842951774597,
+              0.8106586933135986
+            ],
+            "closest_active_finger_button": [
+              0.12245909869670871,
+              -0.43929991126060486,
+              0.7762138843536377
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12803429365158084,
+              -0.06338438391685486,
+              0.03444480895996094
+            ],
+            "min_contact_pad_to_button": 0.020941295247003833,
+            "closest_contact_pad": [
+              0.1223818510770798,
+              -0.439303457736969,
+              0.7896171589898322
+            ],
+            "closest_contact_pad_button": [
+              0.1223818510770798,
+              -0.439303457736969,
+              0.7686758637428284
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020941295247003833
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b7dcd34884ce5fa5d0416de708742c7f58678804cc2eee06b3e0080b456b452",
+    "visual_seed": 8975465269179205535,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d773486df5acac184830844e87ac18f2005f86cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_36_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.23863109867346455,
+              0.2955158767938594,
+              1.0037468806157333
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+            "current_z": 1.0037468806157333,
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+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.14264019378703308,
+            "gripper_z": 1.0049065925469847,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.23327606313824428,
+              0.2904053295298281,
+              1.0049065925469847
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+              0.005355035535220265,
+              0.005110547264031262,
+              -0.001159711931251417
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+            "object_to_gripper_xy": 0.007402303622614328,
+            "object_to_gripper_z": -0.001159711931251417,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23863109867346455,
+              0.27104204654654956,
+              1.0037468806157333
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+            "finger_b": [
+              0.22618353797442572,
+              0.2955158767938594,
+              1.0037468806157333
+            ],
+            "finger_midpoint": [
+              0.23240731832394512,
+              0.2832789616702045,
+              1.0037468806157333
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+            "object_minus_finger_midpoint": [
+              0.0062237803495194255,
+              0.012236915123654879,
+              0.0
+            ],
+            "finger_gap": 0.027457424029402187,
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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": 1.0538057559255458,
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+            "object_projection_between_fingers": 0.7944824451870885,
+            "object_to_finger_line_xy": 0.011094976980183727,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047860401878611764,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.046807466352313566,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "fr3_joint4",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021050089693992878,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008065104484558105,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008065638374578533,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12081183493137357,
+              -0.43624585866928106,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12081183493137357,
+              -0.43624585866928106,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12123162566599119,
+              -0.4371740934685284,
+              0.8037493045676612
+            ],
+            "closest_button": [
+              0.120719239115715,
+              -0.4362520277500153,
+              0.7687437534332275
+            ],
+            "closest_ee_minus_button": [
+              0.0005123865502761893,
+              -0.0009220657185131098,
+              0.03500555113443371
+            ],
+            "button_min_z_position": [
+              0.120719239115715,
+              -0.4362520277500153,
+              0.7687437534332275
+            ],
+            "min_active_finger_to_button": 0.14543155827458448,
+            "closest_active_finger": [
+              -0.01961473375558853,
+              -0.42062750458717346,
+              0.8106978535652161
+            ],
+            "closest_active_finger_button": [
+              0.12080913782119747,
+              -0.43624204397201544,
+              0.7762354016304016
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14042387157678599,
+              0.015614539384841974,
+              0.03446245193481445
+            ],
+            "min_contact_pad_to_button": 0.021050089693992878,
+            "closest_contact_pad": [
+              0.120719239115715,
+              -0.43839707015456375,
+              0.7896842660632429
+            ],
+            "closest_contact_pad_button": [
+              0.120719239115715,
+              -0.4362520277500153,
+              0.7687437534332275
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002145042404548436,
+              0.020940512630015395
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a68811ecee99131593c1cc14785e0dbea5da5591e2d1871165d42e08f24c68c",
+    "visual_seed": 8567318601815806157,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..580bf1efc63d88f7e87b5372761bd9fed5e97b56
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_37_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23621458584105123,
+              0.30144200180398206,
+              1.002790654137288
+            ],
+            "current_z": 1.002790654137288,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14168408651787734,
+            "gripper_z": 1.004259189254597,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23080328008241102,
+              0.29644108477806497,
+              1.004259189254597
+            ],
+            "object_minus_gripper": [
+              0.005411305758640211,
+              0.005000917025917095,
+              -0.0014685351173089334
+            ],
+            "object_to_gripper_xy": 0.007368269886045177,
+            "object_to_gripper_z": -0.0014685351173089334,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23621458584105123,
+              0.27666074654734907,
+              1.002790654137288
+            ],
+            "finger_b": [
+              0.22428329296274138,
+              0.30144200180398206,
+              1.002790654137288
+            ],
+            "finger_midpoint": [
+              0.2302489394018963,
+              0.28905137417566557,
+              1.002790654137288
+            ],
+            "object_minus_finger_midpoint": [
+              0.005965646439154926,
+              0.012390627628316497,
+              0.0
+            ],
+            "finger_gap": 0.02750393357035331,
+            "fingertip_max_gap": 0.09069879810668394,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013751966785176655,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002790654137288,
+            "object_top_z": 1.052920077408032,
+            "finger_top_clearance": 0.0501294232707441,
+            "fingertip_min_top_clearance": 0.015038826981223247,
+            "object_projection_between_fingers": 0.8118148315262907,
+            "object_to_finger_line_xy": 0.01075018646342832,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784939905334197,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19036281394319532,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23575088996548255,
+              -0.022626865633915243,
+              0.756586388199276
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+            "gripper_position": [
+              0.24160307243445814,
+              -0.03715084340256704,
+              1.0251289223748896
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+              -0.005852182468975592,
+              0.014523977768651795,
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+              1.0236027807564376
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004802291418249907,
+              -0.0015261416184519927
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+            "xy_dist": 0.01565867075694731,
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+            "held_gripper_dist": 0.007501137803142976,
+            "max_held_gripper_dist": 0.007545838531108159,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
+            "held_z": 1.0236027807564376,
+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0251289223748896,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.0902039836758,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.1715149876303035,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.475374984145992,
+            "max_source_tilt_deg": 89.81372446685299,
+            "source_upright_tilt_deg": 2.3666501938222253,
+            "max_source_upright_tilt_deg": 89.9285019195172,
+            "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": 2.475374984145992,
+            "source_upright_return_tilt_deg": 2.3666501938222253,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.8005141576520461e-07,
+            "max_target_xy_drift": 2.2271659810638458e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2358,
+                -0.0226,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2358,
+                -0.0226,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.001,
+                -0.0019,
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+                "fr3_joint3",
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+                "fr3_joint5",
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+                "panda_rightfinger",
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "workbench"
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+            },
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+              "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"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.27057906285586864,
+              -0.38081890168403815,
+              0.8470182410857495
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+            "target_position": [
+              0.26338138740883615,
+              -0.379987044052686,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007245586170880379,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18604927987977868,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470182410857495,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586490701828051,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08668960107295208,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530059838315089,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7031349334314976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00786733627319336,
+            "max_z_decrease": 0.00786733627319336,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035075358560240556,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00786733627319336,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020972988270761106,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00786733627319336,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007867835935976435,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11908131092786789,
+              -0.43624851107597346,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11908131092786789,
+              -0.43624851107597346,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11707723008802745,
+              -0.43502251002908854,
+              0.8043319572385497
+            ],
+            "closest_button": [
+              0.11898692697286606,
+              -0.4362551569938659,
+              0.7693303227424622
+            ],
+            "closest_ee_minus_button": [
+              -0.0019096968848386076,
+              0.001232646964777373,
+              0.03500163449608751
+            ],
+            "button_min_z_position": [
+              0.11899272352457047,
+              -0.436252325773239,
+              0.7689415216445923
+            ],
+            "min_active_finger_to_button": 0.1471427100824032,
+            "closest_active_finger": [
+              -0.009303785860538483,
+              -0.49934622645378113,
+              0.8108968734741211
+            ],
+            "closest_active_finger_button": [
+              0.11907827854156496,
+              -0.436243861913681,
+              0.7764423489570618
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12838206440210342,
+              -0.06310236454010015,
+              0.034454524517059326
+            ],
+            "min_contact_pad_to_button": 0.020972988270761106,
+            "closest_contact_pad": [
+              0.11899272352457047,
+              -0.436252325773239,
+              0.7899145099153534
+            ],
+            "closest_contact_pad_button": [
+              0.11899272352457047,
+              -0.436252325773239,
+              0.7689415216445923
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020972988270761106
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "460b2d71eee21f8997f05e26f088570f5f9b51570a8efa11590e1abc99fca9a1",
+    "visual_seed": 6158668527413604672,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5116f482f24dfa9af256f84f1d5758cfd043ea26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_38_success.json
@@ -0,0 +1,1682 @@
+{
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+  "success": true,
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+  "step_accuracy": "6/6",
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+            "object_tilt_deg": 0.5004579463178235,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008112490177154541,
+            "max_z_decrease": 0.008112490177154541,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350280970605395,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008112490177154541,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020930018529988992,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008112490177154541,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008112942188489496,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12784093618392944,
+              -0.43466323614120483,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12784093618392944,
+              -0.43466323614120483,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12720219578287992,
+              -0.4332189464823173,
+              0.8036904916216675
+            ],
+            "closest_button": [
+              0.12775541841983795,
+              -0.4346586763858795,
+              0.7686963677406311
+            ],
+            "closest_ee_minus_button": [
+              -0.000553222636958034,
+              0.0014397299035622257,
+              0.0349941238810364
+            ],
+            "button_min_z_position": [
+              0.12775541841983795,
+              -0.4346586763858795,
+              0.7686963677406311
+            ],
+            "min_active_finger_to_button": 0.1457806047962406,
+            "closest_active_finger": [
+              0.0001591220498085022,
+              -0.49607330560684204,
+              0.8110890984535217
+            ],
+            "closest_active_finger_button": [
+              0.12784063816070557,
+              -0.434658169746399,
+              0.7767729759216309
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12768151611089706,
+              -0.06141513586044306,
+              0.03431612253189087
+            ],
+            "min_contact_pad_to_button": 0.020930018529988992,
+            "closest_contact_pad": [
+              0.12775541841983795,
+              -0.4346586763858795,
+              0.7896263862706201
+            ],
+            "closest_contact_pad_button": [
+              0.12775541841983795,
+              -0.4346586763858795,
+              0.7686963677406311
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020930018529988992
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "32340ddaec54e35317e5c39ab958bb9d3c8a36fb5292171dffaa3331793ee1cc",
+    "visual_seed": 2265349852450652252,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6780494a80d3c8298e44a69a986c2dbeb79f0012
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_39_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2356123501772251,
+              0.30222643735048405,
+              1.0029260563669475
+            ],
+            "current_z": 1.0029260563669475,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.14181936953824714,
+            "gripper_z": 1.0047213460625053,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2299724366956717,
+              0.2971554849237984,
+              1.0047213460625053
+            ],
+            "object_minus_gripper": [
+              0.005639913481553405,
+              0.005070952426685649,
+              -0.0017952896955577557
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+            "object_to_gripper_xy": 0.007584403904929966,
+            "object_to_gripper_z": -0.0017952896955577557,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2356123501772251,
+              0.2771855650906203,
+              1.0029260563669475
+            ],
+            "finger_b": [
+              0.22371009719081264,
+              0.30222643735048405,
+              1.0029260563669475
+            ],
+            "finger_midpoint": [
+              0.22966122368401887,
+              0.2897060012205522,
+              1.0029260563669475
+            ],
+            "object_minus_finger_midpoint": [
+              0.005951126493206227,
+              0.012520436129931867,
+              0.0
+            ],
+            "finger_gap": 0.027725600258378124,
+            "fingertip_max_gap": 0.0904092737155574,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0029260563669475,
+            "object_top_z": 1.0529420688760773,
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+            "fingertip_min_top_clearance": 0.01500480375273892,
+            "object_projection_between_fingers": 0.8157122619924144,
+            "object_to_finger_line_xy": 0.01074973287719074,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047704636857778704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1974167284032645,
+            "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": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23401058334965316,
+              -0.0244439542080863,
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f141646b70cfc59af06b86405f9448b2a8075adf4ab4ae21ac3c3d05a7daabc6",
+    "visual_seed": 5054886861995961292,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e7fb15c8a72e09487731cb01a27614e397492cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_3_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2398772436863576,
+              0.29335532654474117,
+              1.0026448201133182
+            ],
+            "current_z": 1.0026448201133182,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.14153831209855194,
+            "gripper_z": 1.0040327298206804,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2344413515828908,
+              0.28839569852351987,
+              1.0040327298206804
+            ],
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+              0.005435892103466788,
+              0.004959628021221296,
+              -0.0013879097073621338
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+            "object_to_gripper_z": -0.0013879097073621338,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2398772436863576,
+              0.26847642395377125,
+              1.0026448201133182
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+            "finger_b": [
+              0.22810633700814995,
+              0.29335532654474117,
+              1.0026448201133182
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+            "finger_midpoint": [
+              0.23399179034725376,
+              0.2809158752492562,
+              1.0026448201133182
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+              0.005885453339103841,
+              0.01243945129548496,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786260765366063,
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+            "object_upright_reference_source": "scene_initial",
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.024603340753506,
+              0.7565862689899865
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+              -0.04075146903566382,
+              1.0242870642808752
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+            "held_minus_target": [
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+              0.004773567414132068,
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+            "missing_held_position_samples": 0,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.1883538020489,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.9078571576019,
+            "source_upright_tilt_deg": 2.5054014152039823,
+            "max_source_upright_tilt_deg": 89.814371810642,
+            "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": 1.9800189533707965e-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_b",
+              "raw_target_position": [
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+                -0.0246,
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_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
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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": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27645664213571963,
+              -0.3762661166974828,
+              0.8470189520469236
+            ],
+            "target_position": [
+              0.26969307585948743,
+              -0.37637188441304953,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006764393216145979,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18852238925038006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189520469236,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515323066702469,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514171131666466,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1573399738540462,
+            "release_required_pad_clearance": 0.05257085565833233,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20557952810519334,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007925748825073242,
+            "max_z_decrease": 0.007925748825073242,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035037813480942356,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007925748825073242,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020992305016504873,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007925748825073242,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007926208649979454,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12539300322532654,
+              -0.43263334035873413,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12539300322532654,
+              -0.43263334035873413,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12385861130469802,
+              -0.43248844855091,
+              0.805028997683949
+            ],
+            "closest_button": [
+              0.12531378865242004,
+              -0.4326384663581848,
+              0.7700217366218567
+            ],
+            "closest_ee_minus_button": [
+              -0.0014551773477220198,
+              0.00015001780727480485,
+              0.03500726106209229
+            ],
+            "button_min_z_position": [
+              0.12530776858329773,
+              -0.4326382577419281,
+              0.7688831090927124
+            ],
+            "min_active_finger_to_button": 0.14723641123807826,
+            "closest_active_finger": [
+              -0.0022745057940483093,
+              -0.4973922073841095,
+              0.8108290433883667
+            ],
+            "closest_active_finger_button": [
+              0.12539108097553253,
+              -0.43263253569602966,
+              0.7763871550559998
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12766558676958084,
+              -0.06475967168807983,
+              0.03444188833236694
+            ],
+            "min_contact_pad_to_button": 0.020992305016504873,
+            "closest_contact_pad": [
+              0.12530776858329773,
+              -0.4335330674105002,
+              0.789856334537622
+            ],
+            "closest_contact_pad_button": [
+              0.12530776858329773,
+              -0.4326382577419281,
+              0.7688831090927124
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000894809668572083,
+              0.02097322544490965
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de37561cfeec508614a2752f4f3404f5b3b3fd2f43079f0f12855f10519fe986",
+    "visual_seed": 1363853803372699042,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c548d2cb9d46c956160b47b375247c653a047a59
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_40_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23743192853662065,
+              0.29722816145835723,
+              1.0035394108933036
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+            "current_z": 1.0035394108933036,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14243284327389272,
+            "gripper_z": 1.004750713182572,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23204602088376705,
+              0.29209822686366377,
+              1.004750713182572
+            ],
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+              0.0053859076528536,
+              0.005129934594693464,
+              -0.0012113022892683567
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+            "object_to_gripper_xy": 0.00743802596062287,
+            "object_to_gripper_z": -0.0012113022892683567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23743192853662065,
+              0.2726956851979193,
+              1.0035394108933036
+            ],
+            "finger_b": [
+              0.2250040763863804,
+              0.29722816145835723,
+              1.0035394108933036
+            ],
+            "finger_midpoint": [
+              0.23121800246150054,
+              0.2849619233281383,
+              1.0035394108933036
+            ],
+            "object_minus_finger_midpoint": [
+              0.006213926075120113,
+              0.012266238130218932,
+              0.0
+            ],
+            "finger_gap": 0.02750079818000164,
+            "fingertip_max_gap": 0.09071211925084716,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0035394108933036,
+            "object_top_z": 1.053569715348569,
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+            "fingertip_min_top_clearance": 0.015009091336579638,
+            "object_projection_between_fingers": 0.795778454700577,
+            "object_to_finger_line_xy": 0.011086441413388187,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04785605962542358,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.015931118061611474,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007891833782196045,
+            "max_z_decrease": 0.007891833782196045,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507029341452952,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007891833782196045,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021198953801993478,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007891833782196045,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00789239462068877,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12204203754663467,
+              -0.4311271905899048,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12204203754663467,
+              -0.4311271905899048,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12178530774642365,
+              -0.43309398872077914,
+              0.8052876607398989
+            ],
+            "closest_button": [
+              0.12197113782167436,
+              -0.4311297535896301,
+              0.7702729105949402
+            ],
+            "closest_ee_minus_button": [
+              -0.00018583007525070638,
+              -0.001964235131149017,
+              0.035014750144958695
+            ],
+            "button_min_z_position": [
+              0.12194795906543732,
+              -0.43112847208976746,
+              0.7689170241355896
+            ],
+            "min_active_finger_to_button": 0.14608865932286338,
+            "closest_active_finger": [
+              -0.01938670128583908,
+              -0.41891753673553467,
+              0.8109434247016907
+            ],
+            "closest_active_finger_button": [
+              0.122039832174778,
+              -0.4311239719390869,
+              0.7764262557029724
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14142653346061707,
+              0.012206435203552246,
+              0.03451716899871826
+            ],
+            "min_contact_pad_to_button": 0.021198953801993478,
+            "closest_contact_pad": [
+              0.12194795906543732,
+              -0.4341438017285976,
+              0.7899004325686408
+            ],
+            "closest_contact_pad_button": [
+              0.12194795906543732,
+              -0.43112847208976746,
+              0.7689170241355896
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030153296388301665,
+              0.020983408433051243
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7189588e37ac98a8199588b39ed09598c74c5851cebfc58b231282b734e2a2a7",
+    "visual_seed": 5773120329619395207,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7013494751efb49c8d96ef19d7c977ec7efdbe83
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_41_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23786341924798057,
+              0.29563689257551934,
+              1.0020471433606422
+            ],
+            "current_z": 1.0020471433606422,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14094063534587598,
+            "gripper_z": 1.0035995688167916,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23237577078928526,
+              0.2906049273297515,
+              1.0035995688167916
+            ],
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+              0.005487648458695316,
+              0.005031965245767822,
+              -0.00155242545614942
+            ],
+            "object_to_gripper_xy": 0.007445465723568694,
+            "object_to_gripper_z": -0.00155242545614942,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23786341924798057,
+              0.27079453092156186,
+              1.0020471433606422
+            ],
+            "finger_b": [
+              0.22589312753668958,
+              0.29563689257551934,
+              1.0020471433606422
+            ],
+            "finger_midpoint": [
+              0.23187827339233508,
+              0.2832157117485406,
+              1.0020471433606422
+            ],
+            "object_minus_finger_midpoint": [
+              0.005985145855645496,
+              0.01242118082697874,
+              0.0
+            ],
+            "finger_gap": 0.027575910070193853,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0020471433606422,
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+            "object_to_finger_line_xy": 0.010783699070613119,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478661832405184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.15515273295624268,
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+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.01614805495102244,
+              0.7565863285946313
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+            "gripper_position": [
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+              -0.030389683905528972,
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+              0.004772936407409285,
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+            "xy_dist": 0.01626724141626566,
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+            "held_gripper_dist": 0.00759389286032981,
+            "max_held_gripper_dist": 0.007643258684599968,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
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+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0252053105221597,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.10430149412271,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.12000760794893349,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.834850949844124,
+            "max_source_tilt_deg": 89.80999762982309,
+            "source_upright_tilt_deg": 2.7421674257221373,
+            "max_source_upright_tilt_deg": 89.70143810925053,
+            "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": 2.834850949844124,
+            "source_upright_return_tilt_deg": 2.7421674257221373,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.253429135959015e-08,
+            "max_target_xy_drift": 7.129333618657529e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
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+    "task_island_state_digest": "f0056a648c081d55fbf885f8bdac7f7715ad7eb4572a511c8041cc99bc417096",
+    "visual_seed": 372525139269033011,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..956f3d7fcb7c43eb77f13833583f1f15d4d302ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_42_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.29343271596382337,
+              1.0035624250535442
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+              0.005105383176036926,
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+              1.0017727708362436
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+              0.28601111377095223,
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+              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": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "valid_pour_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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+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006524500129608545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18694369527773283,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193592869263,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522904209442532,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0861322774553714,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.155672072255488,
+            "release_required_pad_clearance": 0.0530661387276857,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.155530359986581,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008156418800354004,
+            "max_z_decrease": 0.008156418800354004,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505460808883172,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008156418800354004,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020971721624507,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008156418800354004,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008156987977422054,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12097310274839397,
+              -0.4383159577846527,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12097310274839397,
+              -0.4383159577846527,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12195033264870936,
+              -0.43692528972485134,
+              0.8036629427694045
+            ],
+            "closest_button": [
+              0.12087675184011457,
+              -0.43831726908683777,
+              0.7686524391174316
+            ],
+            "closest_ee_minus_button": [
+              0.0010735808085947929,
+              0.0013919793619864285,
+              0.03501050365197289
+            ],
+            "button_min_z_position": [
+              0.12087675184011457,
+              -0.43831726908683777,
+              0.7686524391174316
+            ],
+            "min_active_finger_to_button": 0.14443308979386102,
+            "closest_active_finger": [
+              -0.004491351544857025,
+              -0.5010395646095276,
+              0.8112209439277649
+            ],
+            "closest_active_finger_button": [
+              0.12097160518169399,
+              -0.4383125305175781,
+              0.7767930030822754
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.125462956726551,
+              -0.06272703409194946,
+              0.0344279408454895
+            ],
+            "min_contact_pad_to_button": 0.020971721624507,
+            "closest_contact_pad": [
+              0.12087675184011457,
+              -0.43831726908683777,
+              0.7896241607419386
+            ],
+            "closest_contact_pad_button": [
+              0.12087675184011457,
+              -0.43831726908683777,
+              0.7686524391174316
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020971721624507
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "995fc665b0458c9d7ed1411346f278c6084f09abc36e3358443fc4bc3c132fdf",
+    "visual_seed": 8071913544531632476,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5294826ad7caff5822906c86c4276bcb67afd541
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_43_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2366010455411219,
+              0.3037294028679973,
+              1.0034375194532754
+            ],
+            "current_z": 1.0034375194532754,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.1423306538106408,
+            "gripper_z": 1.00499912750253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2310083311353072,
+              0.2986520574690749,
+              1.00499912750253
+            ],
+            "object_minus_gripper": [
+              0.005592714405814714,
+              0.005077345398922406,
+              -0.001561608049254648
+            ],
+            "object_to_gripper_xy": 0.0075536673692297275,
+            "object_to_gripper_z": -0.001561608049254648,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2366010455411219,
+              0.2787619289130153,
+              1.0034375194532754
+            ],
+            "finger_b": [
+              0.2246370220680772,
+              0.3037294028679973,
+              1.0034375194532754
+            ],
+            "finger_midpoint": [
+              0.23061903380459955,
+              0.2912456658905063,
+              1.0034375194532754
+            ],
+            "object_minus_finger_midpoint": [
+              0.005982011736522352,
+              0.012483736977491,
+              0.0
+            ],
+            "finger_gap": 0.02768596419408703,
+            "fingertip_max_gap": 0.09061368462429589,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013842982097043516,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0034375194532754,
+            "object_top_z": 1.0535661157248142,
+            "finger_top_clearance": 0.05012859627153876,
+            "fingertip_min_top_clearance": 0.015038578881461628,
+            "object_projection_between_fingers": 0.8132609233436902,
+            "object_to_finger_line_xy": 0.010789273668273898,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780684231214795,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2578819306637519,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+              0.7895230419460729
+            ],
+            "closest_contact_pad_button": [
+              0.1269479393959045,
+              -0.4375913441181183,
+              0.7686163783073425
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002372628654375597,
+              0.020906663638730394
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8c9bac4cbb74ad571a5e1b40b5ad89225e06cb11d8bab1ad8ab0c5ba6c2be48",
+    "visual_seed": 752532803912099738,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e3ca480547fe0e728c1aba8f13c40b3a507222
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_44_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23801016336052686,
+              0.3014821215305304,
+              1.0034902036552338
+            ],
+            "current_z": 1.0034902036552338,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.14238363603582282,
+            "gripper_z": 1.0050921110193052,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23234803783334623,
+              0.2964216451701317,
+              1.0050921110193052
+            ],
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+              0.0056621255271806226,
+              0.005060476360398691,
+              -0.0016019073640713977
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+            "object_to_gripper_xy": 0.0075939506503337525,
+            "object_to_gripper_z": -0.0016019073640713977,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23801016336052686,
+              0.27640552192641343,
+              1.0034902036552338
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+            "finger_b": [
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+              0.3014821215305304,
+              1.0034902036552338
+            ],
+            "finger_midpoint": [
+              0.2320804113337765,
+              0.2889438217284719,
+              1.0034902036552338
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+            "object_minus_finger_midpoint": [
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+              0.012538299802058506,
+              0.0
+            ],
+            "finger_gap": 0.027739568924195598,
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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": 0.8172179094876234,
+            "object_to_finger_line_xy": 0.010721004189565389,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775504128347953,
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.017150074222276983,
+              0.756586388199276
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+            "gripper_position": [
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+              -0.029083231237780907,
+              1.023922649085674
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+            "held_minus_gripper": [
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+              0.004911602885202752,
+              -0.0016623106861024528
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+            "held_gripper_dist": 0.007751449129532516,
+            "max_held_gripper_dist": 0.0078002575981407,
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+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.12495598617284,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.6560013899978847,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.487805287960482,
+            "max_source_tilt_deg": 89.8855022604859,
+            "source_upright_tilt_deg": 1.9411706461584892,
+            "max_source_upright_tilt_deg": 89.63848194300981,
+            "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": 2.487805287960482,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.4286635755115076e-07,
+            "max_target_xy_drift": 3.007176995167909e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2386,
+                -0.0171,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0171,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "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": {
+                "source_name": "beaker",
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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_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6300015449523926
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+              0.7566
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+              "allowed_objects": [
+                "beaker_b"
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+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2716335907751758,
+              -0.3805365358046289,
+              0.8470196779299316
+            ],
+            "target_position": [
+              0.2649313970175263,
+              -0.38081887135492,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006708137932991067,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859205157469187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196779299316,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564513024616505,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653567226933483,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15360917842076888,
+            "release_required_pad_clearance": 0.053267836134667415,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5546571673601577,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008026063442230225,
+            "max_z_decrease": 0.008026063442230225,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505690597641881,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008026063442230225,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021081447027394794,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008026063442230225,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008026674474478612,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12063132226467131,
+              -0.4370803236961365,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12063132226467131,
+              -0.4370803236961365,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12127780814618805,
+              -0.4378255638388083,
+              0.8049630671799498
+            ],
+            "closest_button": [
+              0.12054435163736342,
+              -0.4370877742767334,
+              0.769921600818634
+            ],
+            "closest_ee_minus_button": [
+              0.0007334565088246287,
+              -0.0007377895620748753,
+              0.035041466361315776
+            ],
+            "button_min_z_position": [
+              0.12053237110376358,
+              -0.43708449602127075,
+              0.7687827944755554
+            ],
+            "min_active_finger_to_button": 0.1452605019018387,
+            "closest_active_finger": [
+              -0.01943609118461609,
+              -0.41979652643203735,
+              0.8107137084007263
+            ],
+            "closest_active_finger_button": [
+              0.12062793225049971,
+              -0.43707615137100225,
+              0.7763029932975769
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14006402343511581,
+              0.0172796249389649,
+              0.034410715103149414
+            ],
+            "min_contact_pad_to_button": 0.021081447027394794,
+            "closest_contact_pad": [
+              0.12053237110376358,
+              -0.4391956219791167,
+              0.7897582695824263
+            ],
+            "closest_contact_pad_button": [
+              0.12053237110376358,
+              -0.43708449602127075,
+              0.7687827944755554
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021111259578459607,
+              0.020975475106870922
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "32f04b3402c1f0c2cc6277fc5fb4f2da1964c8bf2451f9f17c90ce3083073d74",
+    "visual_seed": 1840643364075135439,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8828e7fda130b66e763566d7a09b066d91a636d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_45_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23190953412013712,
+              0.2980302948487088,
+              1.0025010130424161
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+            "current_z": 1.0025010130424161,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.1413943858183604,
+            "gripper_z": 1.0044484393670512,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2264154238050022,
+              0.2930310425855007,
+              1.0044484393670512
+            ],
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+              0.005494110315134915,
+              0.004999252263208076,
+              -0.001947426324635071
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+            "object_to_gripper_xy": 0.007428174159648045,
+            "object_to_gripper_z": -0.001947426324635071,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23190953412013712,
+              0.2730955457655674,
+              1.0025010130424161
+            ],
+            "finger_b": [
+              0.22010583633774214,
+              0.2980302948487088,
+              1.0025010130424161
+            ],
+            "finger_midpoint": [
+              0.22600768522893963,
+              0.2855629203071381,
+              1.0025010130424161
+            ],
+            "object_minus_finger_midpoint": [
+              0.005901848891197492,
+              0.012467374541570708,
+              0.0
+            ],
+            "finger_gap": 0.02758747892028806,
+            "fingertip_max_gap": 0.09050414908873056,
+            "finger_z_skew": 0.0,
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007767856121063232,
+            "max_z_decrease": 0.007767856121063232,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502200567081782,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007767856121063232,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021011506571236124,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007767856121063232,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007768494377782531,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12188199907541271,
+              -0.43229338526725763,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12188199907541271,
+              -0.43229338526725763,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12122305653268553,
+              -0.4323183939970036,
+              0.8053236102587984
+            ],
+            "closest_button": [
+              0.12179185450077054,
+              -0.43229836225509644,
+              0.7703062295913696
+            ],
+            "closest_ee_minus_button": [
+              -0.0005687979680850108,
+              -2.003174190717827e-05,
+              0.035017380667428766
+            ],
+            "button_min_z_position": [
+              0.12178250402212139,
+              -0.4322974979877472,
+              0.7690410017967224
+            ],
+            "min_active_finger_to_button": 0.14654655731957056,
+            "closest_active_finger": [
+              -0.005802378058433533,
+              -0.49545925855636597,
+              0.8108831644058228
+            ],
+            "closest_active_finger_button": [
+              0.12187837809324262,
+              -0.4322884380817413,
+              0.7764889001846313
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12768075615167615,
+              -0.06317082047462469,
+              0.034394264221191406
+            ],
+            "min_contact_pad_to_button": 0.021011506571236124,
+            "closest_contact_pad": [
+              0.12178250402212139,
+              -0.43354192593500224,
+              0.7900156247367704
+            ],
+            "closest_contact_pad_button": [
+              0.12178250402212139,
+              -0.4322974979877472,
+              0.7690410017967224
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012444279472550446,
+              0.020974622940048038
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f455ebc6fc971c9df18643ca66cbf81660bf754097235b57526647881eebf04",
+    "visual_seed": 6535098388163564967,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dff13f69bd02a27eb2eeb9235630f79e5a4254a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_46_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2391587979440223,
+              0.30174804830013685,
+              1.000561238983327
+            ],
+            "current_z": 1.000561238983327,
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+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.13945473096856087,
+            "gripper_z": 1.0020205991256042,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23361503314227777,
+              0.296731534349257,
+              1.0020205991256042
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+              0.0055437648017445385,
+              0.005016513950879875,
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+            "object_to_gripper_xy": 0.007476546020485267,
+            "object_to_gripper_z": -0.0014593601422772107,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2391587979440223,
+              0.27676490566604695,
+              1.000561238983327
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+            "finger_b": [
+              0.22734587744157006,
+              0.30174804830013685,
+              1.000561238983327
+            ],
+            "finger_midpoint": [
+              0.23325233769279619,
+              0.28925647698309187,
+              1.000561238983327
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059064602512261255,
+              0.01249157131704498,
+              0.0
+            ],
+            "finger_gap": 0.0276351679327725,
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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": 0.8172782077077936,
+            "object_to_finger_line_xy": 0.010679286572669713,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047774087642141846,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.20931429613950925,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23542044181484786,
+              -0.021989235633204755,
+              0.7565864478039209
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+            "gripper_position": [
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+              -0.03663081955247412,
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+              0.004787008618207814,
+              -0.0015154084942179402
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+            "xy_dist": 0.015553303548444326,
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+            "held_gripper_dist": 0.007608075685242349,
+            "max_held_gripper_dist": 0.007647222603407335,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864478039209,
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+            "required_height": 0.786586447803921,
+            "gripper_z": 1.0237211000354813,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.13858904375618,
+            "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": 0.49553325824528865,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.0093773078993205,
+            "max_source_tilt_deg": 89.88538502184892,
+            "source_upright_tilt_deg": 2.533208687640442,
+            "max_source_upright_tilt_deg": 89.94426110395453,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+        "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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a053a5580dd0ed5877e3d5d7cf434c1873f66a6db4ecc8692b25a33cd428fba5",
+    "visual_seed": 5988618383029464899,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ad3c5fe35a2720223df3186b275e5207a7d0d0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_47_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+              0.2902588442823328,
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+          "failed_keys": [],
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
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+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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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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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27853753731226655,
+              -0.379982776504236,
+              0.8470195206192396
+            ],
+            "target_position": [
+              0.27144862440322387,
+              -0.38068673467917424,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007123780130243653,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1871313919127453,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195206192396,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557268872904907,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08735154242933914,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15493200907150056,
+            "release_required_pad_clearance": 0.05367577121466957,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.361029133200302,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00825190544128418,
+            "max_z_decrease": 0.00825190544128418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035012260878295155,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00825190544128418,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020946322727991448,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00825190544128418,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008252320306701139,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12714855372905728,
+              -0.43694818019866943,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12714855372905728,
+              -0.43694818019866943,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12761223716936235,
+              -0.43666859026261784,
+              0.8035638299802356
+            ],
+            "closest_button": [
+              0.12706580758094788,
+              -0.4369485080242157,
+              0.7685569524765015
+            ],
+            "closest_ee_minus_button": [
+              0.000546429588414471,
+              0.00027991776159785875,
+              0.0350068775037341
+            ],
+            "button_min_z_position": [
+              0.12706580758094788,
+              -0.4369485080242157,
+              0.7685569524765015
+            ],
+            "min_active_finger_to_button": 0.14533265250008573,
+            "closest_active_finger": [
+              0.0004560500383377075,
+              -0.4993375539779663,
+              0.8109174966812134
+            ],
+            "closest_active_finger_button": [
+              0.1271470338106155,
+              -0.4369451701641083,
+              0.7765930891036987
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266909837722778,
+              -0.06239238381385803,
+              0.03432440757751465
+            ],
+            "min_contact_pad_to_button": 0.020946322727991448,
+            "closest_contact_pad": [
+              0.12706580758094788,
+              -0.43788276685231403,
+              0.789482429681748
+            ],
+            "closest_contact_pad_button": [
+              0.12706580758094788,
+              -0.4369485080242157,
+              0.7685569524765015
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009342588280983333,
+              0.020925477205246512
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "683eb872e0676e25ae95c46c4844b0b4503183eccb20c24be95d082b8c47ea3b",
+    "visual_seed": 379928292481555867,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5739af31c90adfd277fb76c81529081688ef80bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_48_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23280911557994993,
+              0.30149685693378075,
+              1.0032682247109075
+            ],
+            "current_z": 1.0032682247109075,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1421615378822072,
+            "gripper_z": 1.0048499072913484,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22739502384462973,
+              0.29636736218987714,
+              1.0048499072913484
+            ],
+            "object_minus_gripper": [
+              0.005414091735320203,
+              0.005129494743903618,
+              -0.0015816825804408907
+            ],
+            "object_to_gripper_xy": 0.007458156987231991,
+            "object_to_gripper_z": -0.0015816825804408907,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23280911557994993,
+              0.2768952343170812,
+              1.0032682247109075
+            ],
+            "finger_b": [
+              0.2204592969118554,
+              0.30149685693378075,
+              1.0032682247109075
+            ],
+            "finger_midpoint": [
+              0.22663420624590266,
+              0.289196045625431,
+              1.0032682247109075
+            ],
+            "object_minus_finger_midpoint": [
+              0.006174909334047268,
+              0.012300811308349757,
+              0.0
+            ],
+            "finger_gap": 0.02752740192080103,
+            "fingertip_max_gap": 0.09059315263888718,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01376370096040049,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0032682247109075,
+            "object_top_z": 1.053317118852243,
+            "finger_top_clearance": 0.05004889414133551,
+            "fingertip_min_top_clearance": 0.015014668242400636,
+            "object_projection_between_fingers": 0.7987245927908891,
+            "object_to_finger_line_xy": 0.01103720500508071,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779657631944359,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.11931096935629257,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+              -0.0015979916607583022,
+              0.03502001230473273
+            ],
+            "button_min_z_position": [
+              0.12128773331642152,
+              -0.43663179874420166,
+              0.7687540650367737
+            ],
+            "min_active_finger_to_button": 0.14585679372766744,
+            "closest_active_finger": [
+              -0.01945965737104416,
+              -0.420481413602829,
+              0.8106783032417297
+            ],
+            "closest_active_finger_button": [
+              0.12135456502437592,
+              -0.4366365969181061,
+              0.7762607336044312
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14081422239542007,
+              0.0161551833152771,
+              0.034417569637298584
+            ],
+            "min_contact_pad_to_button": 0.021158769278695186,
+            "closest_contact_pad": [
+              0.12128773331642152,
+              -0.43957529941681206,
+              0.7897070915766174
+            ],
+            "closest_contact_pad_button": [
+              0.12128773331642152,
+              -0.43663179874420166,
+              0.7687540650367737
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029435006726103996,
+              0.020953026539843767
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c94cfbd6e9cca107225b8e4efa78fcb129edb9bfc32aeb6f1928a9ec568da9a7",
+    "visual_seed": 2224955794263795967,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4982229dd7ab0736e0c6944a5dbe0f5b7a835776
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_49_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23483785720565387,
+              0.30340409870492463,
+              1.0010172248052807
+            ],
+            "current_z": 1.0010172248052807,
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+            "initial_z": 0.7611069252472792,
+            "lift_margin": 0.1399102995580015,
+            "gripper_z": 1.0027235100815974,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22922437566593973,
+              0.298265776603988,
+              1.0027235100815974
+            ],
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+              0.005613481539714138,
+              0.005138322100936621,
+              -0.0017062852763167768
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+            "object_to_gripper_xy": 0.007610093889676075,
+            "object_to_gripper_z": -0.0017062852763167768,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23483785720565387,
+              0.27849278967289337,
+              1.0010172248052807
+            ],
+            "finger_b": [
+              0.22269305551015298,
+              0.30340409870492463,
+              1.0010172248052807
+            ],
+            "finger_midpoint": [
+              0.2287654563579034,
+              0.290948444188909,
+              1.0010172248052807
+            ],
+            "object_minus_finger_midpoint": [
+              0.006072400847750459,
+              0.012455654516015657,
+              0.0
+            ],
+            "finger_gap": 0.027714067292846128,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0010172248052807,
+            "object_top_z": 1.0511389600265961,
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+            "object_projection_between_fingers": 0.8079650301867817,
+            "object_to_finger_line_xy": 0.010916582722141814,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779859751495251,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2498349524539325,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.018754051976989088,
+              0.7565863285946314
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+            "gripper_position": [
+              0.243044351671042,
+              -0.033241487413978615,
+              1.0240768023801068
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+            "target_minus_gripper": [
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+            "held_position": [
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+            "held_minus_target": [
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+              0.004921007088209049,
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+            "xy_dist": 0.015626918716711204,
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+            "held_gripper_dist": 0.007783988809872117,
+            "max_held_gripper_dist": 0.007843858548429703,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946314,
+            "held_z": 1.0223058038170691,
+            "required_height": 0.7865863285946314,
+            "gripper_z": 1.0240768023801068,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.13692930778787,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.23969654792363373,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.473447995328387,
+            "max_source_tilt_deg": 89.84061186482356,
+            "source_upright_tilt_deg": 2.33948980092827,
+            "max_source_upright_tilt_deg": 89.99038875119543,
+            "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": 2.473447995328387,
+            "source_upright_return_tilt_deg": 2.33948980092827,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.391450680152183e-07,
+            "max_target_xy_drift": 1.1929307913556954e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2372,
+                -0.0188,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2372,
+                -0.0188,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0016,
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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
+              ],
+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  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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+            "required_stable_lift_frames": 5
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "floor",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27387456690713796,
+              -0.3816876611370612,
+              0.8470196098422491
+            ],
+            "target_position": [
+              0.26714877579229207,
+              -0.3820525496889605,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006735681834517358,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855622276468593,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196098422491,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541594734318309,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08755081166373031,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15397328042172975,
+            "release_required_pad_clearance": 0.05377540583186516,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.559860621867982,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008056282997131348,
+            "max_z_decrease": 0.008056282997131348,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500713239486752,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008056282997131348,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020942069463916742,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008056282997131348,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008056730097670536,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.122848704457283,
+              -0.43831402063369757,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.122848704457283,
+              -0.43831402063369757,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12290234687857604,
+              -0.43761236096879036,
+              0.8037524910991383
+            ],
+            "closest_button": [
+              0.12276394665241241,
+              -0.43830952048301697,
+              0.7687525749206543
+            ],
+            "closest_ee_minus_button": [
+              0.00013840022616362635,
+              0.0006971595142266085,
+              0.03499991617848397
+            ],
+            "button_min_z_position": [
+              0.12276394665241241,
+              -0.43830952048301697,
+              0.7687525749206543
+            ],
+            "min_active_finger_to_button": 0.1454856337473418,
+            "closest_active_finger": [
+              -0.005020320415496826,
+              -0.4986434876918793,
+              0.8105294108390808
+            ],
+            "closest_active_finger_button": [
+              0.12284282594919205,
+              -0.43830958008766174,
+              0.776223361492157
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12786314636468887,
+              -0.06033390760421753,
+              0.03430604934692383
+            ],
+            "min_contact_pad_to_button": 0.020942069463916742,
+            "closest_contact_pad": [
+              0.12276394665241241,
+              -0.4389881841375679,
+              0.7896836448664432
+            ],
+            "closest_contact_pad_button": [
+              0.12276394665241241,
+              -0.43830952048301697,
+              0.7687525749206543
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006786636545509372,
+              0.02093106994578886
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2e61f3299a4d5c084c9d3d1b3468c93cf62049fcd42be858241c22c2700adf7",
+    "visual_seed": 3977426235215415365,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39b3a4a88d549ca4aa2ef1cf0c558b3901d63237
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_50_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24009814882823166,
+              0.2955723828038238,
+              1.0025126325990685
+            ],
+            "current_z": 1.0025126325990685,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1414060649796578,
+            "gripper_z": 1.0037834286234755,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23468740071376454,
+              0.2905777334146671,
+              1.0037834286234755
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+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008036255836486816,
+            "max_z_decrease": 0.008036255836486816,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350047148168862,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008036255836486816,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020964817746189537,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008036255836486816,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00803709448445565,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11983989924192427,
+              -0.4372945427894591,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11983989924192427,
+              -0.4372945427894591,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11982274535402854,
+              -0.4364780707273355,
+              0.8037675918599154
+            ],
+            "closest_button": [
+              0.1197238266468048,
+              -0.4372971951961516,
+              0.7687726020812988
+            ],
+            "closest_ee_minus_button": [
+              9.89187072237413e-05,
+              0.0008191244688161015,
+              0.03499498977861659
+            ],
+            "button_min_z_position": [
+              0.1197238266468048,
+              -0.4372971951961516,
+              0.7687726020812988
+            ],
+            "min_active_finger_to_button": 0.1455470027498351,
+            "closest_active_finger": [
+              -0.006656832993030548,
+              -0.5005033016204834,
+              0.8107177019119263
+            ],
+            "closest_active_finger_button": [
+              0.11983937770128247,
+              -0.4372884631156921,
+              0.7762717604637146
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12649621069431302,
+              -0.06321483850479132,
+              0.03444594144821167
+            ],
+            "min_contact_pad_to_button": 0.020964817746189537,
+            "closest_contact_pad": [
+              0.1197238266468048,
+              -0.43755702494905985,
+              0.7897358096514787
+            ],
+            "closest_contact_pad_button": [
+              0.1197238266468048,
+              -0.4372971951961516,
+              0.7687726020812988
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025982975290822496,
+              0.020963207570179887
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "442ba033e06660d7b879a12d4c6ca1b6c37547792b228a9b7835021b1c139fe8",
+    "visual_seed": 6367053946453599365,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..920d624ba975248a57f6959047d960690c24ac01
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_51_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23970554045371312,
+              0.2994570580698223,
+              1.0025652919549348
+            ],
+            "current_z": 1.0025652919549348,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1414586647308793,
+            "gripper_z": 1.0042719920568497,
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+            "gripper_position": [
+              0.2341037551654721,
+              0.2943219598076795,
+              1.0042719920568497
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+              0.005601785288241012,
+              0.005135098262142812,
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+            "object_to_gripper_z": -0.0017067001019148709,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23970554045371312,
+              0.2745943865681058,
+              1.0025652919549348
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+            "finger_b": [
+              0.22750824606087444,
+              0.2994570580698223,
+              1.0025652919549348
+            ],
+            "finger_midpoint": [
+              0.23360689325729378,
+              0.28702572231896406,
+              1.0025652919549348
+            ],
+            "object_minus_finger_midpoint": [
+              0.006098647196419338,
+              0.012431335750858252,
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+            ],
+            "finger_gap": 0.02769343649148368,
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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": 0.8060126946828711,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788512587154667,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23509626705307574,
+              -0.01985400540489989,
+              0.7565862689899865
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+              -0.0343935941848932,
+              1.024866476206353
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+            "target_minus_gripper": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.00497468693488088,
+              -0.0017598059800942867
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+            "xy_dist": 0.015293415965221966,
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+            "held_gripper_dist": 0.007773959484609102,
+            "max_held_gripper_dist": 0.007839158001644767,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565862689899865,
+            "held_z": 1.0231066702262588,
+            "required_height": 0.7865862689899865,
+            "gripper_z": 1.024866476206353,
+            "wrist_idx": 5,
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0511c3c168ace16e9a874d6f0ffdedee5ffb2e14a3611c87fb822e44efa60331",
+    "visual_seed": 4577137785010038336,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f52fd5b6dc3a8c35ebb5010185cd86b13e62c633
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_52_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.23259309121723348,
+              0.30119587002047943,
+              1.0004822226531056
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+            "current_z": 1.0004822226531056,
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+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.13937541661511588,
+            "gripper_z": 1.0022872606421531,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22718632234408576,
+              0.2962208338919125,
+              1.0022872606421531
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+              0.004975036128566923,
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+            "object_to_gripper_z": -0.0018050379890475199,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23259309121723348,
+              0.27640009371984753,
+              1.0004822226531056
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+            "finger_b": [
+              0.22073547782001468,
+              0.30119587002047943,
+              1.0004822226531056
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+              0.22666428451862408,
+              0.2887979818701635,
+              1.0004822226531056
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+              0.005928806698609401,
+              0.01239788815031595,
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+            ],
+            "finger_gap": 0.027485150860580728,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              0.0,
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+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.020670454927872,
+              0.7565864478039209
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+            "gripper_position": [
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+              -0.031352517836863214,
+              1.0237916829697224
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+            "held_minus_target": [
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+            "max_source_upright_tilt_deg": 89.87123911598923,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 1.2300511435493124e-07,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+                -0.0207,
+                0.7566
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+              "controller_target_position": [
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+                -0.0207,
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+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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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_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_a",
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+            "pour_controller_skill": "pour",
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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": {
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+              "wrist_dof_index": 5,
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+              "tilt_axis": [
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+                0.0,
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+              "approach_xy_threshold_m": 0.08,
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.0070522422888963,
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26966613430776887,
+              -0.3816999490404199,
+              0.8470196454523079
+            ],
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+              0.2628893553848416,
+              -0.3820175829730794,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006784218738027843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18707005375946345,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196454523079,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15483363057056032,
+            "release_required_pad_clearance": 0.053170912420337196,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3648460694611824,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008084535598754883,
+            "max_z_decrease": 0.008084535598754883,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035036516079742945,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008084535598754883,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02116879279651392,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008084535598754883,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008085028849155709,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11858928203582762,
+              -0.43827903270721436,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11858928203582762,
+              -0.43827903270721436,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11853182577474541,
+              -0.439997002510623,
+              0.8037181648008289
+            ],
+            "closest_button": [
+              0.11850059032440183,
+              -0.4382685720920563,
+              0.7687243223190308
+            ],
+            "closest_ee_minus_button": [
+              3.1235450343586324e-05,
+              -0.0017284304185667398,
+              0.034993842481798154
+            ],
+            "button_min_z_position": [
+              0.11850059032440183,
+              -0.4382685720920563,
+              0.7687243223190308
+            ],
+            "min_active_finger_to_button": 0.14575864260221413,
+            "closest_active_finger": [
+              -0.022140629589557648,
+              -0.4222942888736725,
+              0.8112564086914062
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+            "closest_active_finger_button": [
+              0.11858413368463515,
+              -0.4382762610912323,
+              0.7768079042434692
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1407247632741928,
+              0.015981972217559814,
+              0.03444850444793701
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+            "min_contact_pad_to_button": 0.02116879279651392,
+            "closest_contact_pad": [
+              0.11850059032440183,
+              -0.4413213635982377,
+              0.7896718341636754
+            ],
+            "closest_contact_pad_button": [
+              0.11850059032440183,
+              -0.4382685720920563,
+              0.7687243223190308
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030527915061814292,
+              0.020947511844644606
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b4547a0f0d8f23a8ac499bc15f2228477cfda8c46641c85fd39ac657acdc0e9",
+    "visual_seed": 2576076182787812622,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6967f3fe554b7f25b6b0fc685fe8c0a9d0d6327
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_53_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              1.000664780013087
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+            "lift_margin": 0.13955803357974217,
+            "gripper_z": 1.0020700136541814,
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+            "gripper_position": [
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+              0.2890225524500352,
+              1.0020700136541814
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+              0.005025167292741051,
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+            "object_to_gripper_z": -0.00140523364109435,
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+              0.24005316045691,
+              0.26934371799998547,
+              1.000664780013087
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+            "finger_b": [
+              0.2279710308675504,
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+              1.000664780013087
+            ],
+            "finger_midpoint": [
+              0.2340120956622302,
+              0.2816957188713809,
+              1.000664780013087
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+              0.006041064794679807,
+              0.012352000871395374,
+              0.0
+            ],
+            "finger_gap": 0.027500282862579606,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8069754017458963,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04757537041281783,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1348124452385655,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
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+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
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+                "robotiq_2f85",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008037924766540527,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008038432240263047,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11977326124906539,
+              -0.4382079541683197,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11977326124906539,
+              -0.4382079541683197,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12019144570397022,
+              -0.43822744865254953,
+              0.8037807772026847
+            ],
+            "closest_button": [
+              0.11968293786048889,
+              -0.4382080733776093,
+              0.7687709331512451
+            ],
+            "closest_ee_minus_button": [
+              0.0005085078434813317,
+              -1.9375274940225395e-05,
+              0.03500984405143959
+            ],
+            "button_min_z_position": [
+              0.11968293786048889,
+              -0.4382080733776093,
+              0.7687709331512451
+            ],
+            "min_active_finger_to_button": 0.14551390082482132,
+            "closest_active_finger": [
+              -0.007002159953117371,
+              -0.5008119344711304,
+              0.8106854557991028
+            ],
+            "closest_active_finger_button": [
+              0.11977084726095198,
+              -0.43820229172706604,
+              0.7762916684150696
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12677300721406937,
+              -0.06260964274406433,
+              0.0343937873840332
+            ],
+            "min_contact_pad_to_button": 0.020990649607235342,
+            "closest_contact_pad": [
+              0.11968293786048889,
+              -0.4394498823820544,
+              0.7897248177870402
+            ],
+            "closest_contact_pad_button": [
+              0.11968293786048889,
+              -0.4382080733776093,
+              0.7687709331512451
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012418090044450936,
+              0.02095388463579506
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85899eab2d8f9179cac43940e6fb2796f140a041e76870b1946e283262eae727",
+    "visual_seed": 5137243257616905924,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90824aeaa8ebfc0f3f35cf3484e3e35e3693745
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_54_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2325139924591032,
+              0.30173192862824155,
+              1.0013280024301903
+            ],
+            "current_z": 1.0013280024301903,
+            "required_z": 0.8611066272240553,
+            "initial_z": 0.7611066272240553,
+            "lift_margin": 0.14022137520613498,
+            "gripper_z": 1.003006965544763,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2270925490533741,
+              0.2967868796150084,
+              1.003006965544763
+            ],
+            "object_minus_gripper": [
+              0.005421443405729115,
+              0.0049450490132331715,
+              -0.001678963114572829
+            ],
+            "object_to_gripper_xy": 0.007337953280363814,
+            "object_to_gripper_z": -0.001678963114572829,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2325139924591032,
+              0.2768052731166133,
+              1.0013280024301903
+            ],
+            "finger_b": [
+              0.22084779788001116,
+              0.30173192862824155,
+              1.0013280024301903
+            ],
+            "finger_midpoint": [
+              0.2266808951695572,
+              0.28926860087242745,
+              1.0013280024301903
+            ],
+            "object_minus_finger_midpoint": [
+              0.005833097289546008,
+              0.012463327755814102,
+              0.0
+            ],
+            "finger_gap": 0.027521596082942284,
+            "fingertip_max_gap": 0.09037027673042425,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0013280024301903,
+            "object_top_z": 1.0513671447078405,
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+            "object_projection_between_fingers": 0.8203152589850532,
+            "object_to_finger_line_xy": 0.010566219071316413,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047685138365212126,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2644322695214945,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2388928892101725,
+              -0.016155071535299593,
+              0.756586388199276
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+            "gripper_position": [
+              0.2444091506408339,
+              -0.027431503048216566,
+              1.0243299090370042
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+            "held_position": [
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+              -0.022615033233055803,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004816469815160762,
+              -0.001747746070105194
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+            "xy_dist": 0.012553367987791553,
+            "held_xy_dist": 0.012763621509232858,
+            "held_gripper_dist": 0.0075109000515583705,
+            "max_held_gripper_dist": 0.007567933461293839,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
+            "held_z": 1.022582162966899,
+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0243299090370042,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.08776560614211,
+            "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": 0.5720703723789865,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.3023926043621548,
+            "max_source_tilt_deg": 89.84833260443953,
+            "source_upright_tilt_deg": 1.8700427377158462,
+            "max_source_upright_tilt_deg": 89.84245971737178,
+            "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": 2.3023926043621548,
+            "source_upright_return_tilt_deg": 1.8700427377158462,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0803341865539551e-07,
+            "max_target_xy_drift": 7.287704774838311e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2389,
+                -0.0162,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2389,
+                -0.0162,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0016,
+                0.0017,
+                -0.0008
+              ],
+              "controller_last_pour_pose_position": [
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+                -0.0397,
+                1.021
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
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+                "elbow_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",
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+                "gripper",
+                "gripper_center",
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+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+            },
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+              "source_missing": false,
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+                {
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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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+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.277431763233696,
+              -0.37717935218337073,
+              0.8470193652777088
+            ],
+            "target_position": [
+              0.2703191959900613,
+              -0.3770907629214018,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071131189257990935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18755922609293263,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193652777088,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754203038877293,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15561401955167212,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.639921117157982,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00785297155380249,
+            "max_z_decrease": 0.00785297155380249,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507151415174111,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00785297155380249,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02097008061458272,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00785297155380249,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007853674126019144,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1260191202163696,
+              -0.4333522319793702,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1260191202163696,
+              -0.4333522319793702,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1253812969860809,
+              -0.4316645083650162,
+              0.8049587450616978
+            ],
+            "closest_button": [
+              0.12591780722141263,
+              -0.4333571791648866,
+              0.769932210445404
+            ],
+            "closest_ee_minus_button": [
+              -0.0005365102353317441,
+              0.0016926707998703994,
+              0.03502653461629379
+            ],
+            "button_min_z_position": [
+              0.12591415643692017,
+              -0.43335643410682684,
+              0.7689558863639832
+            ],
+            "min_active_finger_to_button": 0.14575129854305144,
+            "closest_active_finger": [
+              -0.002081066370010376,
+              -0.4938172698020935,
+              0.8107302784919739
+            ],
+            "closest_active_finger_button": [
+              0.12601646780967712,
+              -0.4333486557006837,
+              0.7764081358909607
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1280975341796875,
+              -0.0604686141014098,
+              0.034322142601013184
+            ],
+            "min_contact_pad_to_button": 0.02097008061458272,
+            "closest_contact_pad": [
+              0.12591415643692017,
+              -0.43335643410682684,
+              0.7899259669785659
+            ],
+            "closest_contact_pad_button": [
+              0.12591415643692017,
+              -0.43335643410682684,
+              0.7689558863639832
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02097008061458272
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "028c8684fabcaee587066b6ab97edf945ed1d776ab76de9b2298048a3ede5e9c",
+    "visual_seed": 5396732001224635099,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9457f7b91cb403b2a71206e02ce2e50555bef5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_55_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008066833019256592,
+            "max_z_decrease": 0.008066833019256592,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500986062408059,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008066833019256592,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.020962488600021745,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008066833019256592,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008067204119184112,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12016358226537704,
+              -0.431399405002594,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12016358226537704,
+              -0.431399405002594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12033584066839889,
+              -0.4307717004605428,
+              0.8037454555978861
+            ],
+            "closest_button": [
+              0.12008635699748994,
+              -0.4313945472240448,
+              0.768742024898529
+            ],
+            "closest_ee_minus_button": [
+              0.0002494836709089482,
+              0.0006228467635019941,
+              0.035003430699357074
+            ],
+            "button_min_z_position": [
+              0.12008635699748994,
+              -0.4313945472240448,
+              0.768742024898529
+            ],
+            "min_active_finger_to_button": 0.14546955841685655,
+            "closest_active_finger": [
+              -0.006453327834606171,
+              -0.4942064583301544,
+              0.8109865188598633
+            ],
+            "closest_active_finger_button": [
+              0.12016230076551439,
+              -0.43139544129371643,
+              0.7765677571296692
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12661562860012054,
+              -0.06281101703643799,
+              0.03441876173019409
+            ],
+            "min_contact_pad_to_button": 0.020962488600021745,
+            "closest_contact_pad": [
+              0.12008635699748994,
+              -0.43191125014986353,
+              0.7896981444437238
+            ],
+            "closest_contact_pad_button": [
+              0.12008635699748994,
+              -0.4313945472240448,
+              0.768742024898529
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000516702925818735,
+              0.020956119545194718
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "439ca1895ea375353e793bb3547ec10dcf2abf7fd6dc0ec565d83444236d7d60",
+    "visual_seed": 553169065471669848,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d1a07bb71dc7928dc90ba55b5c924e17c3db0e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_56_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23229805140032758,
+              0.2949877352795486,
+              1.0023744383927404
+            ],
+            "current_z": 1.0023744383927404,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.14126781116868503,
+            "gripper_z": 1.0043884830169791,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22673025941610803,
+              0.28990312742921376,
+              1.0043884830169791
+            ],
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+              0.005567791984219556,
+              0.005084607850334821,
+              -0.002014044624238709
+            ],
+            "object_to_gripper_xy": 0.0075401289492439075,
+            "object_to_gripper_z": -0.002014044624238709,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23229805140032758,
+              0.27007480057615496,
+              1.0023744383927404
+            ],
+            "finger_b": [
+              0.220282923420327,
+              0.2949877352795486,
+              1.0023744383927404
+            ],
+            "finger_midpoint": [
+              0.22629048741032728,
+              0.28253126792785177,
+              1.0023744383927404
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060075639900002975,
+              0.01245646735169681,
+              0.0
+            ],
+            "finger_gap": 0.027658951822354862,
+            "fingertip_max_gap": 0.090460752158001,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0023744383927404,
+            "object_top_z": 1.0524299973808167,
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+            "fingertip_min_top_clearance": 0.015016667696422903,
+            "object_projection_between_fingers": 0.8112941488232049,
+            "object_to_finger_line_xy": 0.010822250269684556,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047730376079000505,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2496631650365744,
+            "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": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.232660731860586,
+              -0.019957868361066156,
+              0.7565865670132105
+            ],
+            "gripper_position": [
+              0.2395786429270987,
+              -0.03455110349708068,
+              1.024271033083996
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+            "target_minus_gripper": [
+              -0.006917911066512711,
+              0.014593235136014526,
+              -0.26768446607078544
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1281173bb5b7194ebff61cba8bbac2b583f4a519d96ef9244d20ea2b2d994c0",
+    "visual_seed": 3685768701030375275,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f82709c73d13e0a82612c3f587bc30e6a88c180
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_58_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2403168210711894,
+              0.2973691517392067,
+              1.0001309684484956
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+            "current_z": 1.0001309684484956,
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1390245200383744,
+            "gripper_z": 1.001706466859558,
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+            "gripper_position": [
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+              0.2922752852787386,
+              1.001706466859558
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+              0.0050938664604681105,
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+            "object_to_gripper_z": -0.0015754984110625259,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2403168210711894,
+              0.2724647664619881,
+              1.0001309684484956
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+            "finger_b": [
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+              0.2973691517392067,
+              1.0001309684484956
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+            "finger_midpoint": [
+              0.23426117526713233,
+              0.2849169591005974,
+              1.0001309684484956
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+              0.012452192638609305,
+              0.0
+            ],
+            "finger_gap": 0.027693172271390634,
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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": 0.01089164756775886,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.01943885346610385,
+              0.7565863881992758
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+              -0.030877583673853876,
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+              0.004845234001883532,
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+            "missing_held_position_samples": 0,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.14967444077911,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.69613987276311,
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+            "max_source_upright_tilt_deg": 89.62007586092616,
+            "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": 6.590711330232818e-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": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+              "controller_target_position": [
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+              "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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+              "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_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_lock_target_position": true,
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+              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,
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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",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2721742238183522,
+              -0.3774399562076764,
+              0.8470195651359649
+            ],
+            "target_position": [
+              0.26518896610692927,
+              -0.377780610325226,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006993559217079467,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18853889639835816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195651359649,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539571728015537,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08672945384596419,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1567578846562152,
+            "release_required_pad_clearance": 0.053364726922982095,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7453530577303389,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007954716682434082,
+            "max_z_decrease": 0.007954716682434082,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508466906792813,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007954716682434082,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021199530795790306,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007954716682434082,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007955417433962142,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12088888883590695,
+              -0.4340420663356781,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12088888883590695,
+              -0.4340420663356781,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12128829565388347,
+              -0.4357908421329205,
+              0.8038918556412236
+            ],
+            "closest_button": [
+              0.12078346312046048,
+              -0.4340479373931885,
+              0.7688541412353516
+            ],
+            "closest_ee_minus_button": [
+              0.0005048325334229831,
+              -0.001742904739732043,
+              0.035037714405872
+            ],
+            "button_min_z_position": [
+              0.12078346312046048,
+              -0.4340479373931885,
+              0.7688541412353516
+            ],
+            "min_active_finger_to_button": 0.14528685590069684,
+            "closest_active_finger": [
+              -0.0192825049161911,
+              -0.41737109422683716,
+              0.8106977343559265
+            ],
+            "closest_active_finger_button": [
+              0.12088608741760253,
+              -0.43404027819633484,
+              0.7763004302978516
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14016859233379364,
+              0.01666918396949768,
+              0.03439730405807495
+            ],
+            "min_contact_pad_to_button": 0.021199530795790306,
+            "closest_contact_pad": [
+              0.12078346312046048,
+              -0.4371804193977136,
+              0.7898209641337544
+            ],
+            "closest_contact_pad_button": [
+              0.12078346312046048,
+              -0.4340479373931885,
+              0.7688541412353516
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00313248200452515,
+              0.020966822898402793
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27c0a893c78aa5ea5d82af43810dedc26440d2914de9f0b66e886b8b752704e6",
+    "visual_seed": 425459991423046365,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a340fb715aca3303faa07c6fc6651914ff41af99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_59_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23545999180311317,
+              0.29923773516519436,
+              1.004240189284591
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+            "current_z": 1.004240189284591,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.14313338324660108,
+            "gripper_z": 1.005667817234142,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23002016791806923,
+              0.29428128955583066,
+              1.005667817234142
+            ],
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+              0.005439823885043937,
+              0.004956445609363702,
+              -0.0014276279495510913
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+            "object_to_gripper_xy": 0.007359214426749314,
+            "object_to_gripper_z": -0.0014276279495510913,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23545999180311317,
+              0.27431126200489464,
+              1.004240189284591
+            ],
+            "finger_b": [
+              0.22375669882285443,
+              0.29923773516519436,
+              1.004240189284591
+            ],
+            "finger_midpoint": [
+              0.2296083453129838,
+              0.2867744985850445,
+              1.004240189284591
+            ],
+            "object_minus_finger_midpoint": [
+              0.00585164649012937,
+              0.012463236580149861,
+              0.0
+            ],
+            "finger_gap": 0.027537177248093455,
+            "fingertip_max_gap": 0.09050220666031183,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013768588624046727,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.004240189284591,
+            "object_top_z": 1.0543107500082107,
+            "finger_top_clearance": 0.05007056072361982,
+            "fingertip_min_top_clearance": 0.015021168217085962,
+            "object_projection_between_fingers": 0.8193752268806209,
+            "object_to_finger_line_xy": 0.010593744439791518,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04775110333015592,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22624117487072765,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
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+            "target": "heat_button",
+            "z_decrease": 0.008142054080963135,
+            "max_z_decrease": 0.008142054080963135,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504121807816588,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008142054080963135,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020969195870556623,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008142054080963135,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00814243914620159,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12338411062955852,
+              -0.44017323851585377,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12338411062955852,
+              -0.44017323851585377,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12119747971619535,
+              -0.44040091928524544,
+              0.8036438231872342
+            ],
+            "closest_button": [
+              0.12330500036478038,
+              -0.44016975164413447,
+              0.7686668038368225
+            ],
+            "closest_ee_minus_button": [
+              -0.0021075206485850345,
+              -0.0002311676411109742,
+              0.03497701935041164
+            ],
+            "button_min_z_position": [
+              0.12330500036478038,
+              -0.44016975164413447,
+              0.7686668038368225
+            ],
+            "min_active_finger_to_button": 0.14785503259146146,
+            "closest_active_finger": [
+              -0.006681881844997406,
+              -0.5015583038330078,
+              0.8110800981521606
+            ],
+            "closest_active_finger_button": [
+              0.12338103353977199,
+              -0.44017094373703,
+              0.7767822742462158
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.13006291538476938,
+              -0.06138736009597784,
+              0.034297823905944824
+            ],
+            "min_contact_pad_to_button": 0.020969195870556623,
+            "closest_contact_pad": [
+              0.12330500036478038,
+              -0.4417651725604857,
+              0.7895752185915914
+            ],
+            "closest_contact_pad_button": [
+              0.12330500036478038,
+              -0.44016975164413447,
+              0.7686668038368225
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015954209163512312,
+              0.0209084147547689
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8333e99a29d5a5c6e814daa946b508a2ef3c5bff60d58f10cdb7f571962e16f8",
+    "visual_seed": 3683365365139930698,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f354ec2803a43086527974d4806586cdcce8b45b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_5_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23836680647167974,
+              0.3009097978171102,
+              1.0016318547538599
+            ],
+            "current_z": 1.0016318547538599,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14052516792515957,
+            "gripper_z": 1.003173333199125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23275223822861146,
+              0.2958053770493152,
+              1.003173333199125
+            ],
+            "object_minus_gripper": [
+              0.005614568243068274,
+              0.005104420767794993,
+              -0.0015414784452651986
+            ],
+            "object_to_gripper_xy": 0.0075880490200556545,
+            "object_to_gripper_z": -0.0015414784452651986,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23836680647167974,
+              0.2759487110102856,
+              1.0016318547538599
+            ],
+            "finger_b": [
+              0.2263325976893659,
+              0.3009097978171102,
+              1.0016318547538599
+            ],
+            "finger_midpoint": [
+              0.2323497020805228,
+              0.28842925441369793,
+              1.0016318547538599
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060171043911569355,
+              0.012480543403412259,
+              0.0
+            ],
+            "finger_gap": 0.027710612328026088,
+            "fingertip_max_gap": 0.090635666793352,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0016318547538599,
+            "object_top_z": 1.0517493377102585,
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+            "fingertip_min_top_clearance": 0.015035244886919551,
+            "object_projection_between_fingers": 0.8113995005674796,
+            "object_to_finger_line_xy": 0.010840140467158848,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047817833396676,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22412304675914352,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2399844439711055,
+              -0.02408144434649783,
+              0.756586388199276
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+            "gripper_position": [
+              0.24822375573155223,
+              -0.03769881886359511,
+              1.0253671209814572
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+            "target_minus_gripper": [
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+              0.013617374517097276,
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+            "held_position": [
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+              -0.03290122033623897,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004797598527356138,
+              -0.0016130833276573053
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+            "xy_dist": 0.015916002859534994,
+            "held_xy_dist": 0.01661877280427275,
+            "held_gripper_dist": 0.0077326809173441195,
+            "max_held_gripper_dist": 0.007775841928986789,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0253671209814572,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.07759545446797,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.25254243591234965,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.256159977597435,
+            "max_source_tilt_deg": 89.91874992058717,
+            "source_upright_tilt_deg": 3.0176832385424435,
+            "max_source_upright_tilt_deg": 89.9582012906043,
+            "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": 3.256159977597435,
+            "source_upright_return_tilt_deg": 3.0176832385424435,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.6566128730773926e-08,
+            "max_target_xy_drift": 1.8525595604116255e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5335cd199fc83964b5297d84e39a3b47a30799
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_60_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.3014641608668175,
+              1.001769267132381
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+            "gripper_position": [
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+              0.29638159766198513,
+              1.0032301707897187
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+              0.005082563204832358,
+              -0.0014609036573376422
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+            "object_to_gripper_xy": 0.007381390904877965,
+            "object_to_gripper_z": -0.0014609036573376422,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23335543458075547,
+              0.27687673805482393,
+              1.001769267132381
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+            "finger_b": [
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+              0.3014641608668175,
+              1.001769267132381
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+            "finger_midpoint": [
+              0.22723298927195695,
+              0.2891704494608207,
+              1.001769267132381
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+              0.006122445308798519,
+              0.012293711405996777,
+              0.0
+            ],
+            "finger_gap": 0.027467775788597402,
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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": 0.047850019264546836,
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+            "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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.24089325089115707,
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+              0.756586388199276
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+              -0.03069178645707063,
+              1.0242484579370021
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+              0.014032221208392127,
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+              0.004794372664851464,
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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_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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+                0.7566
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+            "release_finger_gap": 0.07566841739556023,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08754640482400113,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548958714659291,
+            "release_required_pad_clearance": 0.053773202412000565,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5546570401456536,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008302867412567139,
+            "max_z_decrease": 0.008302867412567139,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511327821040748,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008302867412567139,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021215633931714547,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008302867412567139,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008303303895746439,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12480530887842174,
+              -0.4364723265171051,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12480530887842174,
+              -0.4364723265171051,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1262692985636487,
+              -0.43872074564697056,
+              0.8035123355941791
+            ],
+            "closest_button": [
+              0.12472075223922725,
+              -0.43646240234375,
+              0.7685059905052185
+            ],
+            "closest_ee_minus_button": [
+              0.0015485463244214598,
+              -0.0022583433032205558,
+              0.03500634508896061
+            ],
+            "button_min_z_position": [
+              0.12472075223922725,
+              -0.43646240234375,
+              0.7685059905052185
+            ],
+            "min_active_finger_to_button": 0.1443217454970924,
+            "closest_active_finger": [
+              -0.014765031635761261,
+              -0.4237634837627411,
+              0.8110780715942383
+            ],
+            "closest_active_finger_button": [
+              0.12480489164590831,
+              -0.4364669919013977,
+              0.7766161561012268
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13956992328166956,
+              0.012703508138656616,
+              0.034461915493011475
+            ],
+            "min_contact_pad_to_button": 0.021215633931714547,
+            "closest_contact_pad": [
+              0.12472075223922725,
+              -0.43980512277809863,
+              0.7894566311451203
+            ],
+            "closest_contact_pad_button": [
+              0.12472075223922725,
+              -0.43646240234375,
+              0.7685059905052185
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003342720434348634,
+              0.02095064063990182
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "392bd8e35fd8b69f059efe35c1856ef34ef6c6196b1e24c2950745de554ccc50",
+    "visual_seed": 8115742378796624738,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f262e4868fea55b407876bd71655fa69ff77a9b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_61_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23513938990101185,
+              0.2972765002559569,
+              1.0027482055680492
+            ],
+            "current_z": 1.0027482055680492,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1416415783439937,
+            "gripper_z": 1.004372240695571,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2296916913658947,
+              0.2921948517293007,
+              1.004372240695571
+            ],
+            "object_minus_gripper": [
+              0.005447698535117146,
+              0.005081648526656213,
+              -0.00162403512752185
+            ],
+            "object_to_gripper_xy": 0.007449870541021821,
+            "object_to_gripper_z": -0.00162403512752185,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23513938990101185,
+              0.2726163110328689,
+              1.0027482055680492
+            ],
+            "finger_b": [
+              0.2228926424928278,
+              0.2972765002559569,
+              1.0027482055680492
+            ],
+            "finger_midpoint": [
+              0.22901601619691983,
+              0.28494640564441287,
+              1.0027482055680492
+            ],
+            "object_minus_finger_midpoint": [
+              0.006123373704092022,
+              0.012330094611544051,
+              0.0
+            ],
+            "finger_gap": 0.027533756637959348,
+            "fingertip_max_gap": 0.09062969028391965,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013766878318979698,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0027482055680492,
+            "object_top_z": 1.0527913675755767,
+            "finger_top_clearance": 0.05004316200752745,
+            "fingertip_min_top_clearance": 0.015012948602258202,
+            "object_projection_between_fingers": 0.8021616041121749,
+            "object_to_finger_line_xy": 0.010968612544385617,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781484514195983,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.09200751031266795,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1bb99be51f62b4cd48cebb6c7fb47ee98ac3b9a214e4a1a9e565f83b1297a9d0",
+    "visual_seed": 8270511057092699186,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..afcd244210bdb1c9c5c00b8ec6803d61533611e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_62_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23181741964914498,
+              0.2950452291917272,
+              1.0000461441358208
+            ],
+            "current_z": 1.0000461441358208,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.13893945730712076,
+            "gripper_z": 1.0020117146064926,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22619118355669887,
+              0.2900191235519404,
+              1.0020117146064926
+            ],
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+              0.005626236092446113,
+              0.005026105639786782,
+              -0.001965570470671807
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+            "object_to_gripper_xy": 0.007544287273841035,
+            "object_to_gripper_z": -0.001965570470671807,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23181741964914498,
+              0.2700443303202057,
+              1.0000461441358208
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+            "finger_b": [
+              0.21993433598006928,
+              0.2950452291917272,
+              1.0000461441358208
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+            "finger_midpoint": [
+              0.22587587781460713,
+              0.2825447797559665,
+              1.0000461441358208
+            ],
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+              0.00594154183453785,
+              0.01250044943576073,
+              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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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.028285515818450055,
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+              0.004750629534389407,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.13875979848542,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.6041884202519,
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+            "max_source_upright_tilt_deg": 89.89375440864835,
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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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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.166496753692627e-07,
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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"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                -0.0164,
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+              "controller_target_position": [
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+                -0.0164,
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+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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+              "source_size": [
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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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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_lock_target_position": true,
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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": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2767020453647463,
+              -0.3785471330030138,
+              0.8470194087606246
+            ],
+            "target_position": [
+              0.2721056300249726,
+              -0.3780497477202603,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004623248435375988,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18457283831288435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194087606246,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589152174779779,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609902292872633,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15162441538659796,
+            "release_required_pad_clearance": 0.05304951146436317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.128811972588003,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008122146129608154,
+            "max_z_decrease": 0.008122146129608154,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501435614400378,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008122146129608154,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020939228524376526,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008122146129608154,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008122510572907488,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12780556082725525,
+              -0.4343112111091614,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12780556082725525,
+              -0.4343112111091614,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12814834847844822,
+              -0.4337642560997412,
+              0.8036943247971935
+            ],
+            "closest_button": [
+              0.127728670835495,
+              -0.43430835008621216,
+              0.7686867117881775
+            ],
+            "closest_ee_minus_button": [
+              0.0004196776429532256,
+              0.0005440939864709837,
+              0.035007613009016
+            ],
+            "button_min_z_position": [
+              0.127728670835495,
+              -0.43430835008621216,
+              0.7686867117881775
+            ],
+            "min_active_finger_to_button": 0.14529706887466518,
+            "closest_active_finger": [
+              0.0007043033838272095,
+              -0.49580058455467224,
+              0.8110542297363281
+            ],
+            "closest_active_finger_button": [
+              0.12780539691448212,
+              -0.43430617451667786,
+              0.776776134967804
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271010935306549,
+              -0.061494410037994385,
+              0.03427809476852417
+            ],
+            "min_contact_pad_to_button": 0.020939228524376526,
+            "closest_contact_pad": [
+              0.127728670835495,
+              -0.4350403930975016,
+              0.7896131401558107
+            ],
+            "closest_contact_pad_button": [
+              0.127728670835495,
+              -0.43430835008621216,
+              0.7686867117881775
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007320430112894294,
+              0.020926428367633254
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fd52403b6e480c9fb61e93c96569814998b8ebf0c5706878f4156193dcc8f060",
+    "visual_seed": 1060710058286831768,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0673c68c80cf6257fa890d6aa40ef5ae702ff63
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_63_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23737580588782486,
+              0.30436354103869745,
+              1.000356571238516
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+            "current_z": 1.000356571238516,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.13924976520052645,
+            "gripper_z": 1.001892398638274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23175531087506623,
+              0.2992949768792441,
+              1.001892398638274
+            ],
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+              0.005620495012758631,
+              0.005068564159453337,
+              -0.001535827399757883
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+            "object_to_gripper_xy": 0.007568375441727211,
+            "object_to_gripper_z": -0.001535827399757883,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23737580588782486,
+              0.27942297516325426,
+              1.000356571238516
+            ],
+            "finger_b": [
+              0.22535693788404865,
+              0.30436354103869745,
+              1.000356571238516
+            ],
+            "finger_midpoint": [
+              0.23136637188593676,
+              0.2918932581009759,
+              1.000356571238516
+            ],
+            "object_minus_finger_midpoint": [
+              0.006009434001888109,
+              0.012470282937721566,
+              0.0
+            ],
+            "finger_gap": 0.027685465758760804,
+            "fingertip_max_gap": 0.09060615813853931,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013842732879380377,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.000356571238516,
+            "object_top_z": 1.050466967085916,
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+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008002281188964844,
+            "max_z_decrease": 0.008002281188964844,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511316859808554,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008002281188964844,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021197083207417866,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008002281188964844,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008002774334725604,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12783379852771756,
+              -0.4371613562107087,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12783379852771756,
+              -0.4371613562107087,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12866055342880092,
+              -0.4389472417152503,
+              0.8038625678539331
+            ],
+            "closest_button": [
+              0.1277450621128082,
+              -0.4371656775474549,
+              0.7688065767288208
+            ],
+            "closest_ee_minus_button": [
+              0.0009154913159927225,
+              -0.001781564167795402,
+              0.03505599112511226
+            ],
+            "button_min_z_position": [
+              0.1277450621128082,
+              -0.4371656775474549,
+              0.7688065767288208
+            ],
+            "min_active_finger_to_button": 0.1448564186881716,
+            "closest_active_finger": [
+              -0.011963538825511932,
+              -0.42097288370132446,
+              0.8108389377593994
+            ],
+            "closest_active_finger_button": [
+              0.1278300881385803,
+              -0.43715921044349676,
+              0.7765005230903625
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13979362696409223,
+              0.016186326742172297,
+              0.034338414669036865
+            ],
+            "min_contact_pad_to_button": 0.021197083207417866,
+            "closest_contact_pad": [
+              0.1277450621128082,
+              -0.4402962798820793,
+              0.7897712056433673
+            ],
+            "closest_contact_pad_button": [
+              0.1277450621128082,
+              -0.4371656775474549,
+              0.7688065767288208
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031306023346244216,
+              0.020964628914546535
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ee08f084204d9d9b294932dbb3aaf730a9bfa18d5633929f066d7f18033b476",
+    "visual_seed": 9136490065591112982,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f58d56b6283025b6c8d70628171e16470c218c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_65_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2374288213511302,
+              0.2957616352996085,
+              1.0018870823193557
+            ],
+            "current_z": 1.0018870823193557,
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+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.14078027628136602,
+            "gripper_z": 1.0033914815121494,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2319940788608424,
+              0.2906677552240005,
+              1.0033914815121494
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+              0.005434742490287803,
+              0.005093880075608015,
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+            "object_to_gripper_z": -0.0015043991927936595,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2374288213511302,
+              0.2711204791987279,
+              1.0018870823193557
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+            "finger_b": [
+              0.2251700815257463,
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+              1.0018870823193557
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+              0.23129945143843825,
+              0.28344105724916824,
+              1.0018870823193557
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+              0.006129369912691945,
+              0.01232057805044029,
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+            ],
+            "finger_gap": 0.027522050724726528,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.03445148574494439,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.04200333870303,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.6237777988415022,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.9347707439448247,
+            "max_source_tilt_deg": 89.9378960976189,
+            "source_upright_tilt_deg": 3.3588931175810646,
+            "max_source_upright_tilt_deg": 89.78737168824976,
+            "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": 2.9347707439448247,
+            "source_upright_return_tilt_deg": 3.3588931175810646,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.499490261077881e-08,
+            "max_target_xy_drift": 6.505513177199087e-07,
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+                "wrist_1_joint",
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+                "ground",
+                "groundplane",
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+    "layout_id": "layout_00008",
+    "step_seeds": [
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+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "efeaf1a83c229271e170253585d19df0a341a13c716a60386f6d2f96bce245a9",
+    "visual_seed": 7484069019165222376,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
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+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54689faaea03e86416b7a655d15777bcc3bf03f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_67_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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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",
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+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
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+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27046843784281055,
+              -0.38138385200903946,
+              0.8470195041601886
+            ],
+            "target_position": [
+              0.2625450859709462,
+              -0.3820048329041804,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00794764884462732,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860599528690446,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195041601886,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585152320622407,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09098215980367223,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15320573508926968,
+            "release_required_pad_clearance": 0.05549107990183612,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.121884147425423,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007979333400726318,
+            "max_z_decrease": 0.007979333400726318,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505034627287314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007979333400726318,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021157460575700258,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007979333400726318,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00797972210758275,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11824501305818554,
+              -0.4382662773132324,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11824501305818554,
+              -0.4382662773132324,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11714011266997082,
+              -0.43976805434999233,
+              0.8049890477509304
+            ],
+            "closest_button": [
+              0.11815391480922695,
+              -0.43826791644096375,
+              0.7699854969978333
+            ],
+            "closest_ee_minus_button": [
+              -0.0010138021392561286,
+              -0.0015001379090285871,
+              0.035003550753097135
+            ],
+            "button_min_z_position": [
+              0.11816626787185663,
+              -0.4382646679878235,
+              0.7688295245170593
+            ],
+            "min_active_finger_to_button": 0.146856903605147,
+            "closest_active_finger": [
+              -0.02356962114572525,
+              -0.42177608609199524,
+              0.8107773065567017
+            ],
+            "closest_active_finger_button": [
+              0.11823786050081248,
+              -0.43826407194137573,
+              0.7763428092002869
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14180748164653773,
+              0.016487985849380493,
+              0.034434497356414795
+            ],
+            "min_contact_pad_to_button": 0.021157460575700258,
+            "closest_contact_pad": [
+              0.11814813315868374,
+              -0.44116486765424145,
+              0.7898873325815172
+            ],
+            "closest_contact_pad_button": [
+              0.11814813315868374,
+              -0.43826889991760254,
+              0.7689290046691895
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002895967736638916,
+              0.020958327912327768
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa0b159a9c5ce63152c683e7e0b2dbd8d38e7d2892b76dc53804bb0cb12eb061",
+    "visual_seed": 7668938085597367242,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13cfaa7d9cd911c40866fb09a9e047c7ccf73a0a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_68_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23204294745838566,
+              0.3004632605911073,
+              1.0011345393384272
+            ],
+            "current_z": 1.0011345393384272,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14002785250972694,
+            "gripper_z": 1.0026882200263556,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22657439570365362,
+              0.2954697926081975,
+              1.0026882200263556
+            ],
+            "object_minus_gripper": [
+              0.005468551754732043,
+              0.004993467982909783,
+              -0.0015536806879283827
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+            "object_to_gripper_xy": 0.007405388631971181,
+            "object_to_gripper_z": -0.0015536806879283827,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23204294745838566,
+              0.27555132012991995,
+              1.0011345393384272
+            ],
+            "finger_b": [
+              0.22023914868746947,
+              0.3004632605911073,
+              1.0011345393384272
+            ],
+            "finger_midpoint": [
+              0.22614104807292756,
+              0.28800729036051365,
+              1.0011345393384272
+            ],
+            "object_minus_finger_midpoint": [
+              0.005901899385458098,
+              0.012455970230593638,
+              0.0
+            ],
+            "finger_gap": 0.027566908476759324,
+            "fingertip_max_gap": 0.09068019585770143,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0011345393384272,
+            "object_top_z": 1.0512758238887316,
+            "finger_top_clearance": 0.05014128455030442,
+            "fingertip_min_top_clearance": 0.015042385365091325,
+            "object_projection_between_fingers": 0.8166556777180952,
+            "object_to_finger_line_xy": 0.010666975313710206,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784009792885072,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2662618452392676,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            "closest_active_finger": [
+              -0.009986348450183868,
+              -0.4996340870857239,
+              0.810799241065979
+            ],
+            "closest_active_finger_button": [
+              0.11858127266168593,
+              -0.435904711484909,
+              0.7763484120368958
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285676211118698,
+              -0.06372937560081487,
+              0.03445082902908325
+            ],
+            "min_contact_pad_to_button": 0.020975697573241206,
+            "closest_contact_pad": [
+              0.11848855763673781,
+              -0.4368068442573166,
+              0.7898454200323274
+            ],
+            "closest_contact_pad_button": [
+              0.11848855763673781,
+              -0.4359201192855834,
+              0.7688884735107422
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008867249717331993,
+              0.020956946521585196
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a08492207df9f9207522845182e7fe7e435798287b737c546a64233bd96f9b60",
+    "visual_seed": 2900193674099812698,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..508ef09f75353c92908954f9d82dc1c42135b902
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_69_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23400752451232448,
+              0.3012905674546112,
+              1.0010578698258932
+            ],
+            "current_z": 1.0010578698258932,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.13995124260183756,
+            "gripper_z": 1.002542779472667,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22863979219422081,
+              0.296165307868268,
+              1.002542779472667
+            ],
+            "object_minus_gripper": [
+              0.0053677323181036685,
+              0.005125259586343189,
+              -0.0014849096467737244
+            ],
+            "object_to_gripper_xy": 0.0074216464525209865,
+            "object_to_gripper_z": -0.0014849096467737244,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23400752451232448,
+              0.276803891988453,
+              1.0010578698258932
+            ],
+            "finger_b": [
+              0.22155376957685166,
+              0.3012905674546112,
+              1.0010578698258932
+            ],
+            "finger_midpoint": [
+              0.22778064704458806,
+              0.2890472297215321,
+              1.0010578698258932
+            ],
+            "object_minus_finger_midpoint": [
+              0.006226877467736425,
+              0.012243337733079118,
+              0.0
+            ],
+            "finger_gap": 0.02747168155351555,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0010578698258932,
+            "object_top_z": 1.0511169568244993,
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+            "object_projection_between_fingers": 0.7944913323242806,
+            "object_to_finger_line_xy": 0.01110056022038316,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784990763668154,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.11072347834042648,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23735497016567786,
+              -0.0240296516354783,
+              0.7565863285946313
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+            "gripper_position": [
+              0.24284574505513115,
+              -0.035408728282402574,
+              1.0252062931631583
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+            "target_minus_gripper": [
+              -0.005490774889453293,
+              0.011379076646924273,
+              -0.268619964568527
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+            "held_position": [
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+              -0.030684167269929924,
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+            "held_minus_target": [
+              0.011182491311776566,
+              -0.006654515634451623,
+              0.2670706050967453
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+            "held_minus_gripper": [
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+              0.00472456101247265,
+              -0.0015493594717816972
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+            "held_gripper_dist": 0.007557620483030402,
+            "max_held_gripper_dist": 0.007603040781033859,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
+            "held_z": 1.0236569336913766,
+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0252062931631583,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.1057153432809,
+            "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
+            ],
+            "source_start_tilt_deg": 1.243577524805134,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.0527475300003193,
+            "max_source_tilt_deg": 89.63403549091662,
+            "source_upright_tilt_deg": 4.056339797190132,
+            "max_source_upright_tilt_deg": 89.99343371397231,
+            "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": 3.0527475300003193,
+            "source_upright_return_tilt_deg": 4.056339797190132,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.6566128730773926e-08,
+            "max_target_xy_drift": 6.716921549928955e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2374,
+                -0.024,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.024,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0019,
+                0.0005
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+              "controller_last_pour_pose_position": [
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+                1.0223
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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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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+                  0.0019267964513968025,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 4.056332434732511,
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+            "required_stable_lift_frames": 5
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+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2738647253244188,
+              -0.3778724856739227,
+              0.847019721043771
+            ],
+            "target_position": [
+              0.2665094275064379,
+              -0.3775305109672458,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007363243354066273,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851693061261368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019721043771,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562045087239307,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535748824592297,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15279000066266865,
+            "release_required_pad_clearance": 0.05267874412296149,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4130671646116039,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008100271224975586,
+            "max_z_decrease": 0.008100271224975586,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504754735571041,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008100271224975586,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021047359749787376,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008100271224975586,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00810082873137939,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12220935523509979,
+              -0.43379196524620056,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12220935523509979,
+              -0.43379196524620056,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1234857358477136,
+              -0.4345709377223906,
+              0.8037206925400617
+            ],
+            "closest_button": [
+              0.12211436033248901,
+              -0.4337948262691498,
+              0.7687085866928101
+            ],
+            "closest_ee_minus_button": [
+              0.0013713755152245932,
+              -0.000776111453240802,
+              0.03501210584725167
+            ],
+            "button_min_z_position": [
+              0.12211436033248901,
+              -0.4337948262691498,
+              0.7687085866928101
+            ],
+            "min_active_finger_to_button": 0.1446358204458257,
+            "closest_active_finger": [
+              -0.017572440207004547,
+              -0.41997164487838745,
+              0.8107245564460754
+            ],
+            "closest_active_finger_button": [
+              0.12220750749111176,
+              -0.43378734588623047,
+              0.7762250900268555
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1397799476981163,
+              0.013815701007843018,
+              0.03449946641921997
+            ],
+            "min_contact_pad_to_button": 0.021047359749787376,
+            "closest_contact_pad": [
+              0.12211436033248901,
+              -0.43562275005883433,
+              0.7896764203209194
+            ],
+            "closest_contact_pad_button": [
+              0.12211436033248901,
+              -0.4337948262691498,
+              0.7687085866928101
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001827923789684549,
+              0.02096783362810939
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4cd3e07860d31a7bd9e0f05bbde36d3a89df7d089688028650e0c7f4993adcad",
+    "visual_seed": 7195607922793305852,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be5e3f2c9f0c8a0d75c0d7f7048dde6c81989b0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_6_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23150176405980555,
+              0.3026585558993241,
+              1.000202581392616
+            ],
+            "current_z": 1.000202581392616,
+            "required_z": 0.8611068656426344,
+            "initial_z": 0.7611068656426344,
+            "lift_margin": 0.1390957157499817,
+            "gripper_z": 1.00189812962977,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22609345011320875,
+              0.29764979699567756,
+              1.00189812962977
+            ],
+            "object_minus_gripper": [
+              0.005408313946596799,
+              0.0050087589036465485,
+              -0.0016955482371538988
+            ],
+            "object_to_gripper_xy": 0.0073713991548288865,
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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": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008156836032867432,
+            "max_z_decrease": 0.008156836032867432,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502474579169511,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008156836032867432,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021054008218873918,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008156836032867432,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815758915258306,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12494774162769316,
+              -0.43495574593544006,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12494774162769316,
+              -0.43495574593544006,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12578628553356036,
+              -0.436075930893414,
+              0.803645719516107
+            ],
+            "closest_button": [
+              0.1248371973633766,
+              -0.43494758009910583,
+              0.7686520218849182
+            ],
+            "closest_ee_minus_button": [
+              0.0009490881701837567,
+              -0.001128350794308175,
+              0.03499369763118876
+            ],
+            "button_min_z_position": [
+              0.1248371973633766,
+              -0.43494758009910583,
+              0.7686520218849182
+            ],
+            "min_active_finger_to_button": 0.14500319801315828,
+            "closest_active_finger": [
+              -0.015220217406749725,
+              -0.42111700773239136,
+              0.8112784624099731
+            ],
+            "closest_active_finger_button": [
+              0.12494508177042006,
+              -0.43495267629623413,
+              0.7768083214759827
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1401652991771698,
+              0.013835668563842773,
+              0.03447014093399048
+            ],
+            "min_contact_pad_to_button": 0.021054008218873918,
+            "closest_contact_pad": [
+              0.1248371973633766,
+              -0.4371544561371324,
+              0.7895900485405798
+            ],
+            "closest_contact_pad_button": [
+              0.1248371973633766,
+              -0.43494758009910583,
+              0.7686520218849182
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022068760380265506,
+              0.02093802665566158
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f6bee72d52cf1dbae551e67ac134c2648e07f8b06fdb7bb161a6b6a3aaa646b",
+    "visual_seed": 6301595677781531090,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b926e7c8ab8b280880a9d976cfaaa777145e20dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_70_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24034312324533547,
+              0.3021630862193587,
+              1.0035995505892783
+            ],
+            "current_z": 1.0035995505892783,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.14249292336522268,
+            "gripper_z": 1.0049363693206494,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23477207757550253,
+              0.2971550686898956,
+              1.0049363693206494
+            ],
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+              0.005571045669832936,
+              0.005008017529463116,
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+            "object_to_gripper_z": -0.0013368187313711477,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24034312324533547,
+              0.2772071156632129,
+              1.0035995505892783
+            ],
+            "finger_b": [
+              0.22847468199296928,
+              0.3021630862193587,
+              1.0035995505892783
+            ],
+            "finger_midpoint": [
+              0.23440890261915237,
+              0.2896851009412858,
+              1.0035995505892783
+            ],
+            "object_minus_finger_midpoint": [
+              0.005934220626183095,
+              0.012477985278072923,
+              0.0
+            ],
+            "finger_gap": 0.027634405442492987,
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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": 1.0536633541153697,
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+            "object_to_finger_line_xy": 0.010718105408772539,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778318840621698,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.17325705728911558,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23269791025776476,
+              -0.02348329310972528,
+              0.756586388199276
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+              -0.0402940890143277,
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+            "target_minus_gripper": [
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+            "held_minus_gripper": [
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+              0.004837446162220357,
+              -0.0013827792074874168
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+            "xy_dist": 0.01776527502781641,
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+            "held_gripper_dist": 0.007599538978814916,
+            "max_held_gripper_dist": 0.0076325165104057895,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0245377796216002,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.20478040700277,
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "645add86e6144f16404af5ff48ec97ac620c05c5f3a52cce2194fd06cf334a3d",
+    "visual_seed": 8065416285170032706,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0fd9f5eb7a35582b1dc016f218131b1ff73ade3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_71_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.0035108503539658
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+            "gripper_z": 1.00505484745772,
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+              1.00505484745772
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+              0.005093779687965316,
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+            "object_to_gripper_z": -0.00154399710375408,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2753970558347518,
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+              0.2878290379279479,
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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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,
+            "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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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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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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+            "pour_controller_source_pose_held_object": "beaker_a",
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              0.27424312520903454,
+              -0.37615481424569397,
+              0.847018376428424
+            ],
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+              0.2673828832684527,
+              -0.37503896943766774,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.006950397766956721,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18506695694373737,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847018376428424,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565880724629359,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08776485616769962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15247927071522613,
+            "release_required_pad_clearance": 0.05388242808384981,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7673295089000356,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007933616638183594,
+            "max_z_decrease": 0.007933616638183594,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350849017066881,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007933616638183594,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109844083385775,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007933616638183594,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 5.960464477539063e-08,
+            "button_max_displacement": 0.007934198705321242,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12308280915021898,
+              -0.43130043148994446,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12308280915021898,
+              -0.43130043148994446,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.12096475309992727,
+              -0.43288575667910634,
+              0.8055133762554221
+            ],
+            "closest_button": [
+              0.12300829589366914,
+              -0.4313037097454071,
+              0.7705237865447998
+            ],
+            "closest_ee_minus_button": [
+              -0.002043542793741873,
+              -0.0015820469336992327,
+              0.03498958971062227
+            ],
+            "button_min_z_position": [
+              0.12298692017793657,
+              -0.4313068687915802,
+              0.768875241279602
+            ],
+            "min_active_finger_to_button": 0.14794219840547781,
+            "closest_active_finger": [
+              -0.020224496722221375,
+              -0.4184812605381012,
+              0.8108349442481995
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+            "closest_active_finger_button": [
+              0.12307249009609222,
+              -0.4312996566295624,
+              0.776359498500824
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+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1432969868183136,
+              0.012818396091461182,
+              0.03447544574737549
+            ],
+            "min_contact_pad_to_button": 0.02109844083385775,
+            "closest_contact_pad": [
+              0.12298692017793657,
+              -0.433975790805196,
+              0.7898041939744942
+            ],
+            "closest_contact_pad_button": [
+              0.12298692017793657,
+              -0.4313068687915802,
+              0.768875241279602
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002668922013615793,
+              0.020928952694892144
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84b3ee650fd3c967b71f6e7ba9167908d0dcbdf210f3cd42e37c4e2eadf785d3",
+    "visual_seed": 3782226691911322180,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f90b93dba28521faf95e4158b36f4e7419a04bd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_72_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.999724228436856
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+            "lift_margin": 0.1386176608174453,
+            "gripper_z": 1.0016498244861582,
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+            "gripper_position": [
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+              0.2940541924309448,
+              1.0016498244861582
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+              0.004973003331924075,
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+            "object_to_gripper_z": -0.0019255960493022029,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23221539310768752,
+              0.2740378208832537,
+              0.999724228436856
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+            "finger_b": [
+              0.22051629836713965,
+              0.2990271957628689,
+              0.999724228436856
+            ],
+            "finger_midpoint": [
+              0.22636584573741358,
+              0.2865325083230613,
+              0.999724228436856
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+              0.005849547370273933,
+              0.012494687439807584,
+              0.0
+            ],
+            "finger_gap": 0.027592348117227338,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.820225870450687,
+            "object_to_finger_line_xy": 0.01059543982924577,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047750610443129254,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.29697365849165597,
+            "object_max_tilt_deg": 15.0,
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+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "fr3_leftfinger",
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+                "gripper",
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+                "joint1",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "ground",
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+            "max_z_decrease_with_contact_point": 0.008286654949188232,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 5.960464477539063e-08,
+            "button_max_displacement": 0.008286863097836002,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12162822484970094,
+              -0.43924045562744135,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12162822484970094,
+              -0.43924045562744135,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.12049142855476136,
+              -0.44130290348658346,
+              0.8038585853681919
+            ],
+            "closest_button": [
+              0.12154180556535721,
+              -0.43924656510353083,
+              0.7688819169998169
+            ],
+            "closest_ee_minus_button": [
+              -0.0010503770105958488,
+              -0.002056338383052636,
+              0.034976668368374986
+            ],
+            "button_min_z_position": [
+              0.12156997621059418,
+              -0.43923291563987726,
+              0.7685222029685974
+            ],
+            "min_active_finger_to_button": 0.14688284872608676,
+            "closest_active_finger": [
+              -0.020650900900363922,
+              -0.42726200819015503,
+              0.810546875
+            ],
+            "closest_active_finger_button": [
+              0.12161404639482498,
+              -0.4392459690570831,
+              0.776026725769043
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422649472951889,
+              0.011983960866928045,
+              0.03452014923095703
+            ],
+            "min_contact_pad_to_button": 0.0211380019936878,
+            "closest_contact_pad": [
+              0.12156997621059418,
+              -0.4423006548371769,
+              0.7894364111654788
+            ],
+            "closest_contact_pad_button": [
+              0.12156997621059418,
+              -0.43923291563987726,
+              0.7685222029685974
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003067739197299635,
+              0.02091420819688139
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce09370aa6f290f0aa54972579ae12d78a029daaa0bb51fe09d43112862786cc",
+    "visual_seed": 7894146896474597826,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c597ee029734a3eefa0b8c76902e0856ef3fbac4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_73_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2383464707757332,
+              0.2964197232370079,
+              1.0027948009155752
+            ],
+            "current_z": 1.0027948009155752,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.14168811408687498,
+            "gripper_z": 1.004121860473263,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23291957570142638,
+              0.29150197884866913,
+              1.004121860473263
+            ],
+            "object_minus_gripper": [
+              0.005426895074306826,
+              0.004917744388338752,
+              -0.0013270595576877486
+            ],
+            "object_to_gripper_xy": 0.007323619324935791,
+            "object_to_gripper_z": -0.0013270595576877486,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2383464707757332,
+              0.27145356431901935,
+              1.0027948009155752
+            ],
+            "finger_b": [
+              0.22676177807150927,
+              0.2964197232370079,
+              1.0027948009155752
+            ],
+            "finger_midpoint": [
+              0.23255412442362122,
+              0.28393664377801364,
+              1.0027948009155752
+            ],
+            "object_minus_finger_midpoint": [
+              0.005792346352111982,
+              0.01248307945899424,
+              0.0
+            ],
+            "finger_gap": 0.02752297578695948,
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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": 1.0027948009155752,
+            "object_top_z": 1.0528696479424497,
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+            "fingertip_min_top_clearance": 0.01502245410806236,
+            "object_projection_between_fingers": 0.822834864706272,
+            "object_to_finger_line_xy": 0.010508503197781169,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047778135318492745,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19255882758772785,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23729810733456214,
+              -0.024042047538946443,
+              0.7565863285946313
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+            "gripper_position": [
+              0.24405039167178919,
+              -0.03877775075245235,
+              1.0242646903304418
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+            "target_minus_gripper": [
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+              0.014735703213505907,
+              -0.2676783617358105
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+              -0.03407718749215195,
+              1.0228782260366547
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+            "held_minus_target": [
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+              0.2662918974420234
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+            "held_minus_gripper": [
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+              0.004700563260300397,
+              -0.001386464293787082
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+            "xy_dist": 0.016209080571312182,
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+            "held_gripper_dist": 0.007434728026888675,
+            "max_held_gripper_dist": 0.007462483717493297,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
+            "held_z": 1.0228782260366547,
+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0242646903304418,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.1372639870572,
+            "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": 0.7212443991493662,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.1308499540654284,
+            "max_source_tilt_deg": 89.65314961670656,
+            "source_upright_tilt_deg": 2.4737975029845356,
+            "max_source_upright_tilt_deg": 89.89160004823964,
+            "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": 3.1308499540654284,
+            "source_upright_return_tilt_deg": 2.4737975029845356,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0058283805847168e-07,
+            "max_target_xy_drift": 9.991437622353123e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2373,
+                -0.024,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2373,
+                -0.024,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0003,
+                -0.0018,
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+              "controller_last_pour_pose_position": [
+                0.237,
+                -0.051,
+                1.0213
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0904
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+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
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+                "dummy_base_revolute_z_joint",
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+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "link0",
+                "table",
+                "wheel",
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+            },
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+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27033514799838315,
+              -0.3738936285704741,
+              0.8470201468712999
+            ],
+            "target_position": [
+              0.26264099204705343,
+              -0.37437638250326605,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00770928577515509,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18726152763096304,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201468712999,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528394803467947,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573074691626907,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15575012645455036,
+            "release_required_pad_clearance": 0.05286537345813454,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.769223030440438,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008012831211090088,
+            "max_z_decrease": 0.008012831211090088,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507766238069452,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008012831211090088,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021000904455540488,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008012831211090088,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008013496217409538,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11834091693162917,
+              -0.43063783645629883,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11834091693162917,
+              -0.43063783645629883,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11972012066775703,
+              -0.4296029396358794,
+              0.8039033057743393
+            ],
+            "closest_button": [
+              0.11824312806129456,
+              -0.4306514263153076,
+              0.7688724398612976
+            ],
+            "closest_ee_minus_button": [
+              0.0014769926064624739,
+              0.0010484866794281955,
+              0.03503086591304172
+            ],
+            "button_min_z_position": [
+              0.11823887377977371,
+              -0.43065348267555237,
+              0.7687960267066956
+            ],
+            "min_active_finger_to_button": 0.14424797797224687,
+            "closest_active_finger": [
+              -0.00684182345867157,
+              -0.49348485469818115,
+              0.8110865950584412
+            ],
+            "closest_active_finger_button": [
+              0.11834230273962021,
+              -0.4306333661079407,
+              0.7766467332839966
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12518412619829178,
+              -0.06285148859024048,
+              0.03443986177444458
+            ],
+            "min_contact_pad_to_button": 0.021000904455540488,
+            "closest_contact_pad": [
+              0.11823887377977371,
+              -0.43070703371918867,
+              0.7897968628861544
+            ],
+            "closest_contact_pad_button": [
+              0.11823887377977371,
+              -0.43065348267555237,
+              0.7687960267066956
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -5.355104363630181e-05,
+              0.021000836179458804
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f95e44d8c31a618a0e6139f01deb0acea89a6258fa6e53092485752eb2d2df8a",
+    "visual_seed": 550472587309122537,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6002f8de07b06319b7303322599795bc6d61a624
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_74_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
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+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008145630359649658,
+            "max_z_decrease": 0.008145630359649658,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034987056864782616,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008145630359649658,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020970511463070697,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008145630359649658,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008146454201275528,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1278197020292282,
+              -0.4398157596588135,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1278197020292282,
+              -0.4398157596588135,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.127117104674266,
+              -0.44012208761294824,
+              0.8036440004410529
+            ],
+            "closest_button": [
+              0.12770387530326843,
+              -0.43981325626373297,
+              0.768663227558136
+            ],
+            "closest_ee_minus_button": [
+              -0.0005867706290024199,
+              -0.0003088313492152772,
+              0.0349807728829169
+            ],
+            "button_min_z_position": [
+              0.12770387530326843,
+              -0.43981325626373297,
+              0.768663227558136
+            ],
+            "min_active_finger_to_button": 0.14657862794935395,
+            "closest_active_finger": [
+              -0.013974994421005249,
+              -0.4259508550167084,
+              0.8108521103858948
+            ],
+            "closest_active_finger_button": [
+              0.12781567871570587,
+              -0.4398109316825867,
+              0.7763760685920715
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14179067313671112,
+              0.013860076665878351,
+              0.03447604179382324
+            ],
+            "min_contact_pad_to_button": 0.020970511463070697,
+            "closest_contact_pad": [
+              0.12770387530326843,
+              -0.44113157405330966,
+              0.789592259767688
+            ],
+            "closest_contact_pad_button": [
+              0.12770387530326843,
+              -0.43981325626373297,
+              0.768663227558136
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001318317789576695,
+              0.020929032209552
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01f3aecef629da90b31ea624e9238a50da5a5fb85988b8b0f1713d9da2711408",
+    "visual_seed": 1574258756266460451,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0160d09dd748d510f134284022b70af8a1a00a46
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_75_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23920677075293473,
+              0.29793862094079165,
+              1.0018518309532745
+            ],
+            "current_z": 1.0018518309532745,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.14074544214779805,
+            "gripper_z": 1.003516261197745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23359740564504808,
+              0.29281501197085497,
+              1.003516261197745
+            ],
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+              0.005609365107886649,
+              0.005123608969936688,
+              -0.001664430244470605
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+            "object_to_gripper_xy": 0.007597127469668512,
+            "object_to_gripper_z": -0.001664430244470605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23920677075293473,
+              0.273115960122773,
+              1.0018518309532745
+            ],
+            "finger_b": [
+              0.22696237503224395,
+              0.29793862094079165,
+              1.0018518309532745
+            ],
+            "finger_midpoint": [
+              0.23308457289258933,
+              0.28552729053178233,
+              1.0018518309532745
+            ],
+            "object_minus_finger_midpoint": [
+              0.006122197860345402,
+              0.012411330409009325,
+              0.0
+            ],
+            "finger_gap": 0.02767832575592803,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0018518309532745,
+            "object_top_z": 1.0518975908586445,
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+            "object_to_finger_line_xy": 0.010981100684213528,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047811087536872215,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.09971212858336606,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23765871543545333,
+              -0.02030304817218619,
+              0.7565864478039208
+            ],
+            "gripper_position": [
+              0.24519134179145144,
+              -0.03493322266720453,
+              1.0249434341415018
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "065cfd88d888e56701af29acc691f9e302028dd5c630448bf9f0262152005144",
+    "visual_seed": 3276119809351725335,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e019302236fb8e412dfaeb9a315b1a006585cf09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_76_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2383046809595967,
+              0.29833062055672604,
+              1.0007756899112152
+            ],
+            "current_z": 1.0007756899112152,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.13966918189644928,
+            "gripper_z": 1.0025019541367286,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23266965231891837,
+              0.2931753934240089,
+              1.0025019541367286
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+              0.00563502864067833,
+              0.005155227132717155,
+              -0.0017262642255133631
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+            "object_to_gripper_xy": 0.007637402344460334,
+            "object_to_gripper_z": -0.0017262642255133631,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2383046809595967,
+              0.27340482226630836,
+              1.0007756899112152
+            ],
+            "finger_b": [
+              0.22612891911818506,
+              0.29833062055672604,
+              1.0007756899112152
+            ],
+            "finger_midpoint": [
+              0.2322168000388909,
+              0.2858677214115172,
+              1.0007756899112152
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+            "object_minus_finger_midpoint": [
+              0.006087880920705807,
+              0.012462899145208872,
+              0.0
+            ],
+            "finger_gap": 0.027740666841901355,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010940277154144654,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478186109264694,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1455039232154597,
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23550795633453933,
+              -0.018219534286449728,
+              0.7565865074085656
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+            "gripper_position": [
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+              -0.03403785694288994,
+              1.02636147624297
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+              0.01581832265644021,
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+              -0.029195139066856467,
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+            "held_minus_target": [
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+              0.004842717876033471,
+              -0.0017842832149042032
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+            "held_gripper_dist": 0.007813776397631464,
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+            "held_gripper_threshold": 0.12,
+            "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": 121.0801157942717,
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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": 89.96328218535551,
+            "source_upright_tilt_deg": 3.146773870737031,
+            "max_source_upright_tilt_deg": 89.9151167037154,
+            "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": 3.1498949341266185,
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+            "target_xy_drift": 2.284608499178583e-07,
+            "max_target_xy_drift": 6.956050741291432e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2355,
+                -0.0182,
+                0.7566
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+              "controller_target_position": [
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+                -0.0182,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              ],
+              "height_range_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": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.1467858542195035,
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+              "wrist_compensated_return_position": -1.6288840770721436
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0441,
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
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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,
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+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2719614356550737,
+              -0.37556452475573454,
+              0.8470191813514
+            ],
+            "target_position": [
+              0.2667718495770723,
+              -0.37512369516480093,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005208275567712285,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860718410516327,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470191813514,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521688220445423,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516797097272032,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1547390936285327,
+            "release_required_pad_clearance": 0.05258398548636016,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2306958680858652,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007863461971282959,
+            "max_z_decrease": 0.007863461971282959,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502517281932017,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007863461971282959,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021067506759357535,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007863461971282959,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007863946554142057,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12247177213430403,
+              -0.4313851594924926,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12247177213430403,
+              -0.4313851594924926,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12136854308169512,
+              -0.43214182341458873,
+              0.8047812165876344
+            ],
+            "closest_button": [
+              0.12237730622291564,
+              -0.43138897418975825,
+              0.7697786688804626
+            ],
+            "closest_ee_minus_button": [
+              -0.0010087631412205172,
+              -0.0007528492248304874,
+              0.035002547707171705
+            ],
+            "button_min_z_position": [
+              0.12238451838493346,
+              -0.4313879907131195,
+              0.7689453959465027
+            ],
+            "min_active_finger_to_button": 0.14695262892372404,
+            "closest_active_finger": [
+              -0.019634470343589783,
+              -0.416791170835495,
+              0.8108777403831482
+            ],
+            "closest_active_finger_button": [
+              0.122467964887619,
+              -0.43138349056243896,
+              0.776395320892334
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1421024352312088,
+              0.01459231972694397,
+              0.03448241949081421
+            ],
+            "min_contact_pad_to_button": 0.021067506759357535,
+            "closest_contact_pad": [
+              0.12238451838493346,
+              -0.43328254635027275,
+              0.789927543119595
+            ],
+            "closest_contact_pad_button": [
+              0.12238451838493346,
+              -0.4313879907131195,
+              0.7689453959465027
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001894555637153239,
+              0.020982147173092325
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb9af4446ccc32d960d62c158bcef20f1a36c438fbe517d1b12f192f380dec21",
+    "visual_seed": 5970921232993648572,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..114fe1656570234576d1331a40adb8afcfa8ef2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_77_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.23202788449875517,
+              0.29669740519565413,
+              1.0011362758694657
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+            "current_z": 1.0011362758694657,
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+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1400294698314759,
+            "gripper_z": 1.00308523739994,
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+            "gripper_position": [
+              0.22646650391519993,
+              0.29156812085199024,
+              1.00308523739994
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+            "object_minus_gripper": [
+              0.005561380583555237,
+              0.005129284343663887,
+              -0.0019489615304741914
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+            "object_to_gripper_xy": 0.007565613780341992,
+            "object_to_gripper_z": -0.0019489615304741914,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23202788449875517,
+              0.2719058401547386,
+              1.0011362758694657
+            ],
+            "finger_b": [
+              0.21980076087488348,
+              0.29669740519565413,
+              1.0011362758694657
+            ],
+            "finger_midpoint": [
+              0.22591432268681932,
+              0.2843016226751964,
+              1.0011362758694657
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061135618119358415,
+              0.012395782520457754,
+              0.0
+            ],
+            "finger_gap": 0.027642797421595828,
+            "fingertip_max_gap": 0.09054878401908834,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0011362758694657,
+            "object_top_z": 1.0512330696193148,
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+            "object_projection_between_fingers": 0.8043478501669289,
+            "object_to_finger_line_xy": 0.010965949862502383,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777439200954417,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2571743651309388,
+            "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": {},
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+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008179068565368652,
+            "max_z_decrease": 0.008179068565368652,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035099887797284825,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008179068565368652,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021143672371570582,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008179068565368652,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008179500978041158,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1277790516614914,
+              -0.4333376586437225,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1277790516614914,
+              -0.4333376586437225,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1294678175338159,
+              -0.4349806959489633,
+              0.8037156499842383
+            ],
+            "closest_button": [
+              0.12769542634487152,
+              -0.43333545327186584,
+              0.7686991691589355
+            ],
+            "closest_ee_minus_button": [
+              0.0017723911889443722,
+              -0.0016452426770974804,
+              0.03501648082530273
+            ],
+            "button_min_z_position": [
+              0.12769515812397003,
+              -0.433331698179245,
+              0.768629789352417
+            ],
+            "min_active_finger_to_button": 0.14402735521348586,
+            "closest_active_finger": [
+              -0.01109517365694046,
+              -0.4165661334991455,
+              0.8110260963439941
+            ],
+            "closest_active_finger_button": [
+              0.12777255475521088,
+              -0.43333777785301203,
+              0.7766990661621094
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13886772841215134,
+              0.01677164435386652,
+              0.034327030181884766
+            ],
+            "min_contact_pad_to_button": 0.021143672371570582,
+            "closest_contact_pad": [
+              0.12769515812397003,
+              -0.43637223969655564,
+              0.7895536988493974
+            ],
+            "closest_contact_pad_button": [
+              0.12769515812397003,
+              -0.433331698179245,
+              0.768629789352417
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030405415173106465,
+              0.02092390949698042
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1f0f494ab155d354131dd25d2bc41009d24b23566d38e9ebc036fd83ba3443c",
+    "visual_seed": 5504579778675822589,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a5202a67329cbb878993a10b24f7fbebd5141a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_78_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2397343283371496,
+              0.29557648650916335,
+              1.0022624613679525
+            ],
+            "current_z": 1.0022624613679525,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.14115583414389699,
+            "gripper_z": 1.0037698274781164,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23436314552138168,
+              0.29054414433526105,
+              1.0037698274781164
+            ],
+            "object_minus_gripper": [
+              0.0053711828157679276,
+              0.005032342173902304,
+              -0.001507366110163888
+            ],
+            "object_to_gripper_xy": 0.007360303838540665,
+            "object_to_gripper_z": -0.001507366110163888,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2397343283371496,
+              0.2708857488900507,
+              1.0022624613679525
+            ],
+            "finger_b": [
+              0.2276924197863104,
+              0.29557648650916335,
+              1.0022624613679525
+            ],
+            "finger_midpoint": [
+              0.23371337406173,
+              0.283231117699607,
+              1.0022624613679525
+            ],
+            "object_minus_finger_midpoint": [
+              0.006020954275419599,
+              0.012345368809556334,
+              0.0
+            ],
+            "finger_gap": 0.027470713236511346,
+            "fingertip_max_gap": 0.09006231171562026,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0022624613679525,
+            "object_top_z": 1.0520963259783966,
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+            "fingertip_min_top_clearance": 0.014950159383133259,
+            "object_projection_between_fingers": 0.80784540300703,
+            "object_to_finger_line_xy": 0.010823293953174344,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047531155857810134,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21473427962038744,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23462188858646957,
+              -0.0238741617437108,
+              0.7565863285946313
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+            "gripper_position": [
+              0.24122114597622557,
+              -0.03779611077012866,
+              1.0235265154385058
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+              0.013921949026417864,
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+            "held_position": [
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+              -0.03298417032939728,
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+            "held_minus_target": [
+              0.012141346849220302,
+              -0.009110008585686481,
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+            "held_minus_gripper": [
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+              0.004811940440731383,
+              -0.0015590019167068814
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+            "xy_dist": 0.015406844673404951,
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+            "held_gripper_dist": 0.007503333483069186,
+            "max_held_gripper_dist": 0.007544706242467039,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
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+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0235265154385058,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.07167368045756,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.4863300578363795,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.4511387937896076,
+            "max_source_tilt_deg": 89.91118527865613,
+            "source_upright_tilt_deg": 2.57664173153944,
+            "max_source_upright_tilt_deg": 89.9987125405908,
+            "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": 2.4511387937896076,
+            "source_upright_return_tilt_deg": 2.57664173153944,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.778839340617438e-07,
+            "max_target_xy_drift": 7.851640334641455e-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": {},
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+                "gripper",
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+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a19d3b4c070ade7819699fb8b6ec314e3a9bf7d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_79_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              1.003220351104313
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+            "lift_margin": 0.14211372388025745,
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+              0.28957689952824356,
+              1.004447311758141
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+              0.005432307500997657,
+              0.005068699410487654,
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+            "object_to_gripper_xy": 0.007429783206747913,
+            "object_to_gripper_z": -0.001226960653827991,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27001644317166273,
+              1.003220351104313
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+              1.003220351104313
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+              0.23198050532037712,
+              0.282331021055197,
+              1.003220351104313
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+              0.012314577883534239,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 166,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
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+            },
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+          }
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.756586388199276
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+              -0.03233104108212344,
+              1.0241447499716376
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+              0.00490030258364621,
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+            "end_effector_tilt_deg": null,
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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_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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+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              "tilt_axis_frame": "end_effector",
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+            "valid_pour_pose_failed_keys": [
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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": 0.07541129179112732,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08631407254435504,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15418190680542285,
+            "release_required_pad_clearance": 0.05315703627217752,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3376213400478676,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008228898048400879,
+            "max_z_decrease": 0.008228898048400879,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500891292213109,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008228898048400879,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02107843027304188,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008228898048400879,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008229774565362126,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12502487003803248,
+              -0.4357612431049347,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12502487003803248,
+              -0.4357612431049347,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12447282008113236,
+              -0.4370924153247505,
+              0.8036309203524025
+            ],
+            "closest_button": [
+              0.12490857392549509,
+              -0.43575456738471985,
+              0.7686502933502197
+            ],
+            "closest_ee_minus_button": [
+              -0.00043575384436272957,
+              -0.0013378479400306675,
+              0.03498062700218274
+            ],
+            "button_min_z_position": [
+              0.12490519881248469,
+              -0.4357509911060334,
+              0.7685799598693848
+            ],
+            "min_active_finger_to_button": 0.1463329640114989,
+            "closest_active_finger": [
+              -0.016575142741203308,
+              -0.42258280515670776,
+              0.8112139701843262
+            ],
+            "closest_active_finger_button": [
+              0.1250265091657638,
+              -0.43575558066368103,
+              0.7767351865768433
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1416016519069671,
+              0.013172775506973267,
+              0.03447878360748291
+            ],
+            "min_contact_pad_to_button": 0.02107843027304188,
+            "closest_contact_pad": [
+              0.12490519881248469,
+              -0.4381254778333333,
+              0.7895242200749247
+            ],
+            "closest_contact_pad_button": [
+              0.12490519881248469,
+              -0.4357509911060334,
+              0.7685799598693848
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002374486727299896,
+              0.020944260205539966
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1884538b1a076ecc3cbfa99a8f131cecf2e3f3dda8d6faf82cfb27a06635abc",
+    "visual_seed": 1920482639658767204,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eedbe4d6e3108da7e5bb1e462206e44b6e16c45a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_7_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23134498207419538,
+              0.3018478565636046,
+              1.0024162586695429
+            ],
+            "current_z": 1.0024162586695429,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.14130933342226348,
+            "gripper_z": 1.0040800548122548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22586447565738238,
+              0.2967476147647674,
+              1.0040800548122548
+            ],
+            "object_minus_gripper": [
+              0.005480506416812997,
+              0.0051002417988371684,
+              -0.0016637961427119485
+            ],
+            "object_to_gripper_xy": 0.007486549070922746,
+            "object_to_gripper_z": -0.0016637961427119485,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23134498207419538,
+              0.27712228925731186,
+              1.0024162586695429
+            ],
+            "finger_b": [
+              0.21914121112320223,
+              0.3018478565636046,
+              1.0024162586695429
+            ],
+            "finger_midpoint": [
+              0.2252430965986988,
+              0.2894850729104582,
+              1.0024162586695429
+            ],
+            "object_minus_finger_midpoint": [
+              0.006101885475496588,
+              0.012362783653146359,
+              0.0
+            ],
+            "finger_gap": 0.02757327880471083,
+            "fingertip_max_gap": 0.090614427944088,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013786639402355421,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0024162586695429,
+            "object_top_z": 1.052555034092082,
+            "finger_top_clearance": 0.050138775422539084,
+            "fingertip_min_top_clearance": 0.01504163262676174,
+            "object_projection_between_fingers": 0.8041104487004598,
+            "object_to_finger_line_xy": 0.010943390598429978,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047807213972044,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25276468225140614,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+              0.7687094211578369
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027248714739098734,
+              0.020898172381422886
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f3b7855fd5ead80b9428068fecd459b81d1ba75327570c936e76008015724bd",
+    "visual_seed": 143793091687351017,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae3540ddf8f04d228c310f7bfe5d3e6445ac529
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_80_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
+              0.23572761869134307,
+              0.3006415846347249,
+              1.0017699956698745
+            ],
+            "current_z": 1.0017699956698745,
+            "required_z": 0.8611066272240557,
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+            "lift_margin": 0.14066336844581873,
+            "gripper_z": 1.003174343175801,
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+            "gripper_position": [
+              0.23034186721242195,
+              0.29568261568566523,
+              1.003174343175801
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+              0.005385751478921119,
+              0.004958968949059672,
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+            "object_to_gripper_z": -0.0014043475059264399,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23572761869134307,
+              0.27584099664911155,
+              1.0017699956698745
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+            "finger_b": [
+              0.22390539299084328,
+              0.3006415846347249,
+              1.0017699956698745
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+            "finger_midpoint": [
+              0.22981650584109317,
+              0.2882412906419182,
+              1.0017699956698745
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+              0.012400293992806677,
+              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": 0.01067174510585031,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047794700371060816,
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+              1.0
+            ],
+            "stable_success_frames": 163,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.016120089196751886,
+              0.7565863285946313
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+            "gripper_position": [
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+              -0.030207574573686946,
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+            "held_minus_target": [
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+              0.0047586674885583165,
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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": 121.18521874521986,
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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": 2.5802504833239284,
+            "max_source_tilt_deg": 89.69350279372343,
+            "source_upright_tilt_deg": 2.3585702112904774,
+            "max_source_upright_tilt_deg": 89.73893344701156,
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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": 2.5802504833239284,
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+            "target_xy_drift": 1.2202813740193247e-07,
+            "max_target_xy_drift": 5.888345438553927e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                -0.0161,
+                0.7566
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+              "controller_target_position": [
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+                -0.0161,
+                0.7566
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+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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+              "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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+                "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_a",
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+              "wrist_compensated_return_position": -1.6312847137451172
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26901090759892077,
+              -0.37897562419731456,
+              0.8470199261593285
+            ],
+            "target_position": [
+              0.2627301843507943,
+              -0.3784371279459914,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006303765758040603,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18696261259362013,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199261593285,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555768566418077,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15467516703169673,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007826566696166992,
+            "max_z_decrease": 0.007826566696166992,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511801687183245,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007826566696166992,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021190207053737215,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007826566696166992,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007827071298771695,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11843010783195491,
+              -0.43469858169555664,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11843010783195491,
+              -0.43469858169555664,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12011161469329926,
+              -0.4361248461354421,
+              0.8050092534276803
+            ],
+            "closest_button": [
+              0.11833993345499035,
+              -0.4347023367881775,
+              0.7699648141860962
+            ],
+            "closest_ee_minus_button": [
+              0.0017716812383089114,
+              -0.0014225093472646222,
+              0.03504443924158407
+            ],
+            "button_min_z_position": [
+              0.11834124475717542,
+              -0.434700071811676,
+              0.7689822912216187
+            ],
+            "min_active_finger_to_button": 0.14415982417786602,
+            "closest_active_finger": [
+              -0.020535923540592194,
+              -0.4177475571632385,
+              0.8108829855918884
+            ],
+            "closest_active_finger_button": [
+              0.1184272691607475,
+              -0.4346943199634552,
+              0.7764723300933838
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1389631927013397,
+              0.016946762800216675,
+              0.03441065549850464
+            ],
+            "min_contact_pad_to_button": 0.021190207053737215,
+            "closest_contact_pad": [
+              0.11834124475717542,
+              -0.4375310292619516,
+              0.7899825425271384
+            ],
+            "closest_contact_pad_button": [
+              0.11834124475717542,
+              -0.434700071811676,
+              0.7689822912216187
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002830957450275562,
+              0.021000251305519746
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17b62be74a4c950c90499e77846c58be5ebc64cd4822eac1dd73870099b309c5",
+    "visual_seed": 3348148135845579763,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eea42384df4dfa098584d00cb81b4381002acaa6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_81_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.29910124712943265,
+              1.000607860351014
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+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.13950129273160317,
+            "gripper_z": 1.002349254536592,
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+            "gripper_position": [
+              0.23205972272294018,
+              0.2940443597179017,
+              1.002349254536592
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+              0.005624103233899003,
+              0.00505688741153093,
+              -0.0017413941855779491
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+            "object_to_gripper_xy": 0.00756324318519861,
+            "object_to_gripper_z": -0.0017413941855779491,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23768382595683918,
+              0.2740619187760747,
+              1.000607860351014
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+            "finger_b": [
+              0.22581521770304774,
+              0.29910124712943265,
+              1.000607860351014
+            ],
+            "finger_midpoint": [
+              0.23174952182994346,
+              0.2865815829527537,
+              1.000607860351014
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+            "object_minus_finger_midpoint": [
+              0.0059343041268957175,
+              0.012519664176678935,
+              0.0
+            ],
+            "finger_gap": 0.027709778531580513,
+            "fingertip_max_gap": 0.09042327261933497,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013854889265790232,
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+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007803201675415039,
+            "max_z_decrease": 0.007803201675415039,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507315863690575,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007803201675415039,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021185651172923415,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007803201675415039,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0078038697450081365,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11800883710384369,
+              -0.4329582750797272,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11800883710384369,
+              -0.4329582750797272,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1188649453461521,
+              -0.43469961677844177,
+              0.8041004459199199
+            ],
+            "closest_button": [
+              0.11789716035127641,
+              -0.43296539783477783,
+              0.769083559513092
+            ],
+            "closest_ee_minus_button": [
+              0.000967784994875695,
+              -0.0017342189436639344,
+              0.035016886406827874
+            ],
+            "button_min_z_position": [
+              0.11790690571069719,
+              -0.43296432495117193,
+              0.7690056562423706
+            ],
+            "min_active_finger_to_button": 0.1449254720770443,
+            "closest_active_finger": [
+              -0.022028587758541107,
+              -0.41869619488716125,
+              0.8109773397445679
+            ],
+            "closest_active_finger_button": [
+              0.11800700426101685,
+              -0.4329531788825989,
+              0.7764785885810852
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14003559201955795,
+              0.014256983995437622,
+              0.034498751163482666
+            ],
+            "min_contact_pad_to_button": 0.021185651172923415,
+            "closest_contact_pad": [
+              0.11790690571069719,
+              -0.43588041814550615,
+              0.7899896552917117
+            ],
+            "closest_contact_pad_button": [
+              0.11790690571069719,
+              -0.43296432495117193,
+              0.7690056562423706
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002916093194334224,
+              0.020983999049341118
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddad51665e775cfc5b66abcb8517728e9cd42d08d67044c722b34892853d4c3d",
+    "visual_seed": 744731426454108637,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a1f2b719ebca7e6808c764f23c2dbf42a49c8da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_82_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23996356482361364,
+              0.29746237783560125,
+              1.0031815787699532
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+            "current_z": 1.0031815787699532,
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+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.14207483233660811,
+            "gripper_z": 1.0048348430298835,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.29232952138846474,
+              1.0048348430298835
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+              0.005651863219892611,
+              0.0051328564471365135,
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+            "object_to_gripper_z": -0.0016532642599302871,
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+              0.23996356482361364,
+              0.2724845896419447,
+              1.0031815787699532
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+            "finger_b": [
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+              0.29746237783560125,
+              1.0031815787699532
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+            "finger_midpoint": [
+              0.2339173043147419,
+              0.28497348373877296,
+              1.0031815787699532
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+            "object_minus_finger_midpoint": [
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+              0.012488894096828296,
+              0.0
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.01088408486733993,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477834977357956,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.10570407631203033,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.025061527245829877,
+              0.756586388199276
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+              -0.03921946112398414,
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+              0.004909389359067574,
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+            "xy_dist": 0.01587644472600208,
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+            "held_gripper_dist": 0.007801755727167802,
+            "max_held_gripper_dist": 0.007856512658324292,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.0257875718901686,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.1285623260546,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.15829758911771125,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.6354973037379525,
+            "max_source_tilt_deg": 89.70992852192309,
+            "source_upright_tilt_deg": 2.4785034882317976,
+            "max_source_upright_tilt_deg": 89.66839454116642,
+            "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": 2.6354973037379525,
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+                "split_aloha",
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+        "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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e79debbfae348657c9039923fe7eeb3e2835e1854ab95d7dc0aa09c3ffe4cc42",
+    "visual_seed": 2277806719851501944,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..18a16fd2b2930d985351d30dedb2194e621322b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_83_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+              0.28120995694774653,
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "valid_pour_grasp_window_ok": true,
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2756046524068062,
+              -0.3743233919791881,
+              0.8470198586693887
+            ],
+            "target_position": [
+              0.268785656416794,
+              -0.37448939109078955,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006821016201186933,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18581547624966696,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198586693887,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513923912603862,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544638197761682,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1547661609041001,
+            "release_required_pad_clearance": 0.05272319098880841,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.49731908470698005,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007804393768310547,
+            "max_z_decrease": 0.007804393768310547,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509552624068245,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007804393768310547,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021028391539029807,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007804393768310547,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007804845715195986,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.124485582113266,
+              -0.43075084686279297,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.124485582113266,
+              -0.43075084686279297,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1260464320458616,
+              -0.4304896513658215,
+              0.8053344005391203
+            ],
+            "closest_button": [
+              0.12439371645450593,
+              -0.430754542350769,
+              0.770278811454773
+            ],
+            "closest_ee_minus_button": [
+              0.0016527155913556718,
+              0.00026489098494747454,
+              0.03505558908434736
+            ],
+            "button_min_z_position": [
+              0.12440162897109988,
+              -0.4307533800601959,
+              0.7690044641494751
+            ],
+            "min_active_finger_to_button": 0.14444073404134153,
+            "closest_active_finger": [
+              -0.0019488856196403503,
+              -0.49160170555114746,
+              0.8107360601425171
+            ],
+            "closest_active_finger_button": [
+              0.12448251247406007,
+              -0.430749237537384,
+              0.7764548063278198
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264313980937004,
+              -0.06085246801376348,
+              0.034281253814697266
+            ],
+            "min_contact_pad_to_button": 0.021028391539029807,
+            "closest_contact_pad": [
+              0.12440162897109988,
+              -0.4318693873243029,
+              0.7900032207437404
+            ],
+            "closest_contact_pad_button": [
+              0.12440162897109988,
+              -0.4307533800601959,
+              0.7690044641494751
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011160072641069885,
+              0.02099875659426531
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80cf17bb1c2efb3c08b0c4fec654fc42e39f8693f127588fab99571f5c619e5e",
+    "visual_seed": 5414846466872706977,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b82ea4fa568cd63fff5e1840ce6653a6f1234586
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_85_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2390405824764585,
+              0.29388520919736016,
+              1.0014855202710033
+            ],
+            "current_z": 1.0014855202710033,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.14037889304694762,
+            "gripper_z": 1.0029226785633432,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2335899105668275,
+              0.2889035528021582,
+              1.0029226785633432
+            ],
+            "object_minus_gripper": [
+              0.005450671909631,
+              0.004981656395201983,
+              -0.001437158292339813
+            ],
+            "object_to_gripper_xy": 0.007384221333783086,
+            "object_to_gripper_z": -0.001437158292339813,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2390405824764585,
+              0.26896953711204047,
+              1.0014855202710033
+            ],
+            "finger_b": [
+              0.22727025044853844,
+              0.29388520919736016,
+              1.0014855202710033
+            ],
+            "finger_midpoint": [
+              0.2331554164624985,
+              0.28142737315470034,
+              1.0014855202710033
+            ],
+            "object_minus_finger_midpoint": [
+              0.005885166013960025,
+              0.01245783604265982,
+              0.0
+            ],
+            "finger_gap": 0.027555969072247492,
+            "fingertip_max_gap": 0.09063825325149485,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013777984536123715,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0014855202710033,
+            "object_top_z": 1.0515565936156317,
+            "finger_top_clearance": 0.05007107334462835,
+            "fingertip_min_top_clearance": 0.015021322003388503,
+            "object_projection_between_fingers": 0.8175490829190888,
+            "object_to_finger_line_xy": 0.010642548348566329,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781912662574743,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.14213029715971356,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
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+            "button_min_z_position": [
+              0.12030959129333493,
+              -0.4397076964378357,
+              0.768572211265564
+            ],
+            "min_active_finger_to_button": 0.14471900952448855,
+            "closest_active_finger": [
+              -0.004956014454364777,
+              -0.5033118724822998,
+              0.810570240020752
+            ],
+            "closest_active_finger_button": [
+              0.12039287388324735,
+              -0.43970394134521484,
+              0.7761423587799072
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12534888833761212,
+              -0.06360793113708496,
+              0.03442788124084473
+            ],
+            "min_contact_pad_to_button": 0.02097564389135832,
+            "closest_contact_pad": [
+              0.12030959129333493,
+              -0.4404990386014299,
+              0.7895329224709882
+            ],
+            "closest_contact_pad_button": [
+              0.12030959129333493,
+              -0.4397076964378357,
+              0.768572211265564
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007913421635942219,
+              0.0209607112054242
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b27831bfac117f93a056390e7a811f14fde058c2024bd3e6c27b3935e1b1e0fa",
+    "visual_seed": 5616735010879855665,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..179a5a002cda3a907a1aebc50ef59fc45582f620
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_87_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23678352734707395,
+              0.298072693969266,
+              1.0005122130993693
+            ],
+            "current_z": 1.0005122130993693,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.13940540706137927,
+            "gripper_z": 1.0019166539957387,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2313188727212489,
+              0.2931659348868744,
+              1.0019166539957387
+            ],
+            "object_minus_gripper": [
+              0.005464654625825044,
+              0.004906759082391576,
+              -0.0014044408963693744
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+            "object_to_gripper_xy": 0.0073442994813789604,
+            "object_to_gripper_z": -0.0014044408963693744,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23678352734707395,
+              0.2731232043027089,
+              1.0005122130993693
+            ],
+            "finger_b": [
+              0.22515393467672667,
+              0.298072693969266,
+              1.0005122130993693
+            ],
+            "finger_midpoint": [
+              0.2309687310119003,
+              0.28559794913598746,
+              1.0005122130993693
+            ],
+            "object_minus_finger_midpoint": [
+              0.00581479633517365,
+              0.01247474483327854,
+              0.0
+            ],
+            "finger_gap": 0.027526795314744383,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0005122130993693,
+            "object_top_z": 1.0505693241137595,
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+            "fingertip_min_top_clearance": 0.015017133304317025,
+            "object_projection_between_fingers": 0.821508433785182,
+            "object_to_finger_line_xy": 0.010540725821421022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04774264131724906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21307463823028616,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2356315912689646,
+              -0.018684532472084337,
+              0.756586388199276
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+            "gripper_position": [
+              0.2442998501558957,
+              -0.03157390972550668,
+              1.025105335722181
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+            "target_minus_gripper": [
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+              0.012889377253422343,
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+            "held_position": [
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+              -0.026859405920692775,
+              1.0236370682701628
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+            "held_minus_target": [
+              0.014272219706060546,
+              -0.008174873448608438,
+              0.2670506800708867
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+            "held_minus_gripper": [
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+              0.004714503804813905,
+              -0.0014682674520183348
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+            "held_gripper_dist": 0.007469051633145885,
+            "max_held_gripper_dist": 0.007503824908354879,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586388199276,
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+            "required_height": 0.7865863881992761,
+            "gripper_z": 1.025105335722181,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.1288355336214,
+            "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": 0.7112548314485725,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8605236369164024,
+            "max_source_tilt_deg": 89.77750826335655,
+            "source_upright_tilt_deg": 2.2228168358487523,
+            "max_source_upright_tilt_deg": 89.93986504058292,
+            "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": 2.8605236369164024,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.064333243705223e-08,
+            "max_target_xy_drift": 3.438636671262771e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2356,
+                -0.0187,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0187,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0,
+                0.0002
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+              "controller_last_pour_pose_position": [
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+                1.022
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
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+                "joint4",
+                "joint5",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "table",
+                "wheel",
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2779692739817216,
+              -0.38109546417726337,
+              0.8470193952490317
+            ],
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+              0.27135708634543004,
+              -0.38141194681032314,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006619757291212081,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18634214158814388,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193952490317,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558290702266497,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659314343500225,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542304050549417,
+            "release_required_pad_clearance": 0.05329657171750113,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6115153529617137,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007992565631866455,
+            "max_z_decrease": 0.007992565631866455,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511126178335791,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007992565631866455,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021034234304081204,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007992565631866455,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00799311209073881,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1270570158958435,
+              -0.437673419713974,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1270570158958435,
+              -0.437673419713974,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12888638015578638,
+              -0.4379245790624561,
+              0.804822441512175
+            ],
+            "closest_button": [
+              0.12696573138237,
+              -0.43768021464347845,
+              0.7697646021842957
+            ],
+            "closest_ee_minus_button": [
+              0.0019206487734163835,
+              -0.0002443644189776273,
+              0.035057839327879314
+            ],
+            "button_min_z_position": [
+              0.12696373462677002,
+              -0.437679260969162,
+              0.7688162922859192
+            ],
+            "min_active_finger_to_button": 0.14415923654943275,
+            "closest_active_finger": [
+              -0.011987291276454926,
+              -0.42133331298828125,
+              0.8109331130981445
+            ],
+            "closest_active_finger_button": [
+              0.12705495953559875,
+              -0.4376707077026368,
+              0.7765495777130127
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13904225081205368,
+              0.016337394714355524,
+              0.034383535385131836
+            ],
+            "min_contact_pad_to_button": 0.021034234304081204,
+            "closest_contact_pad": [
+              0.12696373462677002,
+              -0.43916947763098924,
+              0.7897976713411624
+            ],
+            "closest_contact_pad_button": [
+              0.12696373462677002,
+              -0.437679260969162,
+              0.7688162922859192
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014902166618272483,
+              0.02098137905524322
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e42b54e79ea50d56a83ae98fc61134682c52217c69496d3fb4d0e3de76188e1b",
+    "visual_seed": 2948418399406898014,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd852b43505894526cd530d1e97024c77ca59ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_88_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23197459940733348,
+              0.29436613843294657,
+              1.0019482077661825
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+            "current_z": 1.0019482077661825,
+            "required_z": 0.861106984851924,
+            "initial_z": 0.7611069848519241,
+            "lift_margin": 0.1408412229142585,
+            "gripper_z": 1.003869743950335,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2263929413869148,
+              0.289219713439937,
+              1.003869743950335
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+            "object_minus_gripper": [
+              0.005581658020418684,
+              0.005146424993009546,
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+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008144021034240723,
+            "max_z_decrease": 0.008144021034240723,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035057998601633514,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008144021034240723,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021062015926319264,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008144021034240723,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008144242553770211,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12178706377744677,
+              -0.4393282234668731,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12178706377744677,
+              -0.4393282234668731,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11967848559513986,
+              -0.44057708182995203,
+              0.8037121514284938
+            ],
+            "closest_button": [
+              0.12172322720289232,
+              -0.4393248260021209,
+              0.7687362432479858
+            ],
+            "closest_ee_minus_button": [
+              -0.002044741607752462,
+              -0.0012522558278311169,
+              0.034975908180508
+            ],
+            "button_min_z_position": [
+              0.1217271387577057,
+              -0.4393240809440612,
+              0.7686648368835449
+            ],
+            "min_active_finger_to_button": 0.14781671838069926,
+            "closest_active_finger": [
+              -0.02113039791584015,
+              -0.42388030886650085,
+              0.8112455606460571
+            ],
+            "closest_active_finger_button": [
+              0.12178121507167818,
+              -0.4393247961997986,
+              0.776785135269165
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1429116129875183,
+              0.01544448733329773,
+              0.03446042537689209
+            ],
+            "min_contact_pad_to_button": 0.021062015926319264,
+            "closest_contact_pad": [
+              0.1217271387577057,
+              -0.44182016472053215,
+              0.7895784229141941
+            ],
+            "closest_contact_pad_button": [
+              0.1217271387577057,
+              -0.4393240809440612,
+              0.7686648368835449
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024960837764709254,
+              0.02091358603064919
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ab014e3f147a8f8454fdfc7506958a0e47fcfab90f30f37958a983d3d6368e7",
+    "visual_seed": 1055812896696606060,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2a149668aa5d82f9bd98a48be308b6a16bccdea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_89_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
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+              0.23263462902710372,
+              0.29757057081163185,
+              0.9998507245606577
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+            "current_z": 0.9998507245606577,
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+            "lift_margin": 0.13874373970873366,
+            "gripper_z": 1.001587770355172,
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+            "gripper_position": [
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+              0.29244138368538125,
+              1.001587770355172
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+              0.005129187126250601,
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+            "object_to_gripper_z": -0.0017370457945143913,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.23263462902710372,
+              0.2728947561308633,
+              0.9998507245606577
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+            "finger_b": [
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+              0.29757057081163185,
+              0.9998507245606577
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+              0.28523266347124754,
+              0.9998507245606577
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+              0.012337907340384313,
+              0.0
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+            "object_to_finger_line_xy": 0.011011042412765612,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 159,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.018968731143663698,
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+              -0.03291258798350574,
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+              0.004739486191920491,
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+            "xy_dist": 0.01590529740578956,
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+            "max_held_gripper_dist": 0.007749424704994147,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
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+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0237043245014885,
+            "wrist_idx": 5,
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "020886022f24798a3464810eb4db14a3026ebb3a5534071bdd51802f14e7d9c2",
+    "visual_seed": 4114251898300923779,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ad1f168f10d50a29451a60bc9c003fd6d592e5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_8_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.2359947686276375,
+              0.2974348970002952,
+              1.0008542072288096
+            ],
+            "current_z": 1.0008542072288096,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1397475204001094,
+            "gripper_z": 1.0023027136904976,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23061811943251634,
+              0.2923505234423611,
+              1.0023027136904976
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+              0.005376649195121153,
+              0.005084373557934063,
+              -0.0014485064616880372
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+            "object_to_gripper_xy": 0.007399946691971235,
+            "object_to_gripper_z": -0.0014485064616880372,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2359947686276375,
+              0.27282537931601036,
+              1.0008542072288096
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+            "finger_b": [
+              0.22374885329996638,
+              0.2974348970002952,
+              1.0008542072288096
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+            "finger_midpoint": [
+              0.22987181096380194,
+              0.2851301381581528,
+              1.0008542072288096
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+              0.006122957663835554,
+              0.012304758842142383,
+              0.0
+            ],
+            "finger_gap": 0.027488011984601896,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565864478039208
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+            "gripper_position": [
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+              -0.0296349668821818,
+              1.0242801072446919
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+              0.004679887887226508,
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+            "max_held_gripper_dist": 0.007572164990841337,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.1297712695377,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_tilt_deg": 4.09980981456989,
+            "max_source_upright_tilt_deg": 89.73750688045435,
+            "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": 5.160972596278562e-07,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "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_b",
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+                -0.0181,
+                0.7566
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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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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+                "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_a",
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+              "wrist_compensated_return_position": -1.6288450956344604
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_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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+              "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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+                0.0019681715639492618,
+                -0.0010047432971498496
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+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 4.09995693958854,
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.2698625722894279,
+              -0.37545497955079477,
+              0.847019529842886
+            ],
+            "target_position": [
+              0.2645767612708324,
+              -0.37514085184325485,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00529513685762226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848751245315836,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019529842886,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758587844061806,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626469948487815,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15205687102075433,
+            "release_required_pad_clearance": 0.05313234974243908,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.290567685688995,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076751708984375,
+            "max_z_decrease": 0.0076751708984375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502852254095822,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076751708984375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.020997307680981424,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076751708984375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007675775086956503,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12027668952941893,
+              -0.4314022958278656,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12027668952941893,
+              -0.4314022958278656,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11955195949383948,
+              -0.4310805259858796,
+              0.8045158804095003
+            ],
+            "closest_button": [
+              0.12021363526582718,
+              -0.43140700459480286,
+              0.7694951295852661
+            ],
+            "closest_ee_minus_button": [
+              -0.0006616757719876964,
+              0.0003264786089232641,
+              0.03502075082423417
+            ],
+            "button_min_z_position": [
+              0.12018045783042906,
+              -0.43140608072280884,
+              0.7691336870193481
+            ],
+            "min_active_finger_to_button": 0.14635218860532526,
+            "closest_active_finger": [
+              -0.00754411518573761,
+              -0.49383777379989624,
+              0.810921311378479
+            ],
+            "closest_active_finger_button": [
+              0.12027256190776825,
+              -0.4313978254795075,
+              0.7765249013900757
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12781667709350586,
+              -0.06243994832038874,
+              0.03439640998840332
+            ],
+            "min_contact_pad_to_button": 0.020997307680981424,
+            "closest_contact_pad": [
+              0.12018045783042906,
+              -0.4322869457266915,
+              0.7901125098341473
+            ],
+            "closest_contact_pad_button": [
+              0.12018045783042906,
+              -0.43140608072280884,
+              0.7691336870193481
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008808650038826804,
+              0.020978822814799125
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19ea12f6b2ebbbfe9a0b75af953277b8633ea0bd57b1466486e86b5975426dbd",
+    "visual_seed": 7060965473153111724,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b2e061358923d0a761289b5d4f53a412f7a01ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_90_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23986957121816913,
+              0.3016018754811356,
+              1.003263610159168
+            ],
+            "current_z": 1.003263610159168,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1421569233304678,
+            "gripper_z": 1.0046704060086298,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23429788324011366,
+              0.2965097559879449,
+              1.0046704060086298
+            ],
+            "object_minus_gripper": [
+              0.005571687978055462,
+              0.0050921194931907166,
+              -0.001406795849461684
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+            "object_to_gripper_xy": 0.007548071797336101,
+            "object_to_gripper_z": -0.001406795849461684,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23986957121816913,
+              0.2767214623862551,
+              1.003263610159168
+            ],
+            "finger_b": [
+              0.22778756151461876,
+              0.3016018754811356,
+              1.003263610159168
+            ],
+            "finger_midpoint": [
+              0.23382856636639393,
+              0.2891616689336953,
+              1.003263610159168
+            ],
+            "object_minus_finger_midpoint": [
+              0.006041004851775195,
+              0.012440206547440269,
+              0.0
+            ],
+            "finger_gap": 0.027658812596505027,
+            "fingertip_max_gap": 0.09068659881822275,
+            "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": 1.003263610159168,
+            "object_top_z": 1.053365565762455,
+            "finger_top_clearance": 0.050101955603286896,
+            "fingertip_min_top_clearance": 0.015030586680986035,
+            "object_projection_between_fingers": 0.8091855337325061,
+            "object_to_finger_line_xy": 0.010868340475276668,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047843299409111376,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.15715997387174738,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "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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+                "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",
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+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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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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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008050312481518518,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12644019722938532,
+              -0.4356820583343506,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12644019722938532,
+              -0.4356820583343506,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1251982754241442,
+              -0.4339466430539585,
+              0.8042430524563119
+            ],
+            "closest_button": [
+              0.12634231150150294,
+              -0.43568506836891174,
+              0.7692238092422485
+            ],
+            "closest_ee_minus_button": [
+              -0.0011440360773587455,
+              0.001738425314953218,
+              0.035019243214063356
+            ],
+            "button_min_z_position": [
+              0.12637236714363093,
+              -0.43567609786987305,
+              0.7687588334083557
+            ],
+            "min_active_finger_to_button": 0.14623060923329165,
+            "closest_active_finger": [
+              -0.001845724880695343,
+              -0.4968929886817932,
+              0.81061190366745
+            ],
+            "closest_active_finger_button": [
+              0.1264354735612869,
+              -0.43567684292793274,
+              0.776262104511261
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12828119844198224,
+              -0.061216145753860474,
+              0.034349799156188965
+            ],
+            "min_contact_pad_to_button": 0.020971769925496986,
+            "closest_contact_pad": [
+              0.12637236714363093,
+              -0.43567609786987305,
+              0.7897306033338527
+            ],
+            "closest_contact_pad_button": [
+              0.12637236714363093,
+              -0.43567609786987305,
+              0.7687588334083557
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020971769925496986
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98e5b0d77674d84d69a7a21aee56361ae197c66e7693d8afd648de2f58a9ae76",
+    "visual_seed": 2643968446940850607,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..feb16a584bcabb0c905c406b59e3bfa3ccf7fad8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_91_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.235336063228615,
+              0.29863786397157827,
+              1.0026064648445994
+            ],
+            "current_z": 1.0026064648445994,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14149989722518852,
+            "gripper_z": 1.0041089020251512,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22983899010341596,
+              0.29366397588341053,
+              1.0041089020251512
+            ],
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+              0.005497073125199037,
+              0.004973888088167733,
+              -0.0015024371805518744
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+            "object_to_gripper_xy": 0.007413324197511018,
+            "object_to_gripper_z": -0.0015024371805518744,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.235336063228615,
+              0.2737336349819628,
+              1.0026064648445994
+            ],
+            "finger_b": [
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+              0.29863786397157827,
+              1.0026064648445994
+            ],
+            "finger_midpoint": [
+              0.22942778176788547,
+              0.28618574947677056,
+              1.0026064648445994
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012452114494807709,
+              0.0
+            ],
+            "finger_gap": 0.027565409136162018,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0026064648445994,
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+            "object_projection_between_fingers": 0.8162389523892335,
+            "object_to_finger_line_xy": 0.01067578527177228,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047776525098812916,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21229625123922646,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.023987673201750093,
+              0.7565864478039208
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+            "gripper_position": [
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+              -0.03596871543943096,
+              1.024519425110631
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+            "held_minus_target": [
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+              0.004683604365101415,
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+            "held_gripper_dist": 0.007550769853080725,
+            "max_held_gripper_dist": 0.0075940105819634,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865864478039208,
+            "gripper_z": 1.024519425110631,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.10814689062543,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.40604060156173805,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.3546753012323656,
+            "max_source_tilt_deg": 89.77193357137818,
+            "source_upright_tilt_deg": 2.9505314563616523,
+            "max_source_upright_tilt_deg": 89.8677435740471,
+            "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": 3.3546753012323656,
+            "source_upright_return_tilt_deg": 2.9505314563616523,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.2667356532751995e-07,
+            "max_target_xy_drift": 4.298797767386334e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2406,
+                -0.024,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2406,
+                -0.024,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0009,
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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
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "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",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+            },
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.27520260828056015,
+              -0.38127547382239546,
+              0.8470194640948807
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+            "target_position": [
+              0.2687033933704191,
+              -0.38146146889244537,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00650187577659575,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18769499694382638,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194640948807,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573792965200668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0873250199363242,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15518619587501575,
+            "release_required_pad_clearance": 0.0536625099681621,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3343565719083204,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008112192153930664,
+            "max_z_decrease": 0.008112192153930664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035003540277465515,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008112192153930664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020959796078009706,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008112192153930664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008112623899840594,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12440332025289534,
+              -0.43772292137145996,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12440332025289534,
+              -0.43772292137145996,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12464453036469372,
+              -0.43750319345400773,
+              0.8036980659675389
+            ],
+            "closest_button": [
+              0.12432007491588591,
+              -0.43771424889564514,
+              0.768696665763855
+            ],
+            "closest_ee_minus_button": [
+              0.00032445544880781163,
+              0.00021105544163740886,
+              0.03500140020368392
+            ],
+            "button_min_z_position": [
+              0.12432007491588591,
+              -0.43771424889564514,
+              0.768696665763855
+            ],
+            "min_active_finger_to_button": 0.14551857128080214,
+            "closest_active_finger": [
+              -0.0032655447721481323,
+              -0.49856263399124146,
+              0.8110788464546204
+            ],
+            "closest_active_finger_button": [
+              0.12439990788698195,
+              -0.4377187490463257,
+              0.7767975330352783
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276654526591301,
+              -0.06084388494491577,
+              0.03428131341934204
+            ],
+            "min_contact_pad_to_button": 0.020959796078009706,
+            "closest_contact_pad": [
+              0.12432007491588591,
+              -0.43887160946365406,
+              0.7896244838093983
+            ],
+            "closest_contact_pad_button": [
+              0.12432007491588591,
+              -0.43771424889564514,
+              0.768696665763855
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011573605680089138,
+              0.020927818045543334
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba340cb9a7536c2d4c8c3797469de74553cd4009928172a5a46ed0bef3e89c9d",
+    "visual_seed": 6484125556096373542,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e47b6a4d943909bd619f6df1de3dca2aee47b152
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_92_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007705032825469971,
+            "max_z_decrease": 0.007705032825469971,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035072602414175466,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007705032825469971,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021125112937444207,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007705032825469971,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007705523481377523,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1190015822649002,
+              -0.4333284199237823,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1190015822649002,
+              -0.4333284199237823,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11683073142437392,
+              -0.4347636098472822,
+              0.804913536453478
+            ],
+            "closest_button": [
+              0.11891031265258789,
+              -0.4333308041095733,
+              0.769931972026825
+            ],
+            "closest_ee_minus_button": [
+              -0.0020795812282139725,
+              -0.0014328057377088754,
+              0.03498156442665301
+            ],
+            "button_min_z_position": [
+              0.1189146488904953,
+              -0.4333303868770598,
+              0.7691038250923157
+            ],
+            "min_active_finger_to_button": 0.14791770756731845,
+            "closest_active_finger": [
+              -0.024121887981891632,
+              -0.41892993450164795,
+              0.8110531568527222
+            ],
+            "closest_active_finger_button": [
+              0.1189974024891853,
+              -0.43332609534263605,
+              0.7765673995018005
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14311929047107694,
+              0.014396160840988104,
+              0.03448575735092163
+            ],
+            "min_contact_pad_to_button": 0.021125112937444207,
+            "closest_contact_pad": [
+              0.1189146488904953,
+              -0.43595703153167464,
+              0.7900650067020951
+            ],
+            "closest_contact_pad_button": [
+              0.1189146488904953,
+              -0.4333303868770598,
+              0.7691038250923157
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002626644654614818,
+              0.020961181609779445
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "730411dd04c28094aaaf397549175883ea132825d14468d0960bda09a3fec881",
+    "visual_seed": 1420409938096136619,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5c970a741bc0a8e9dc88ca4c6bbb024cb2ded9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_93_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23535576403194752,
+              0.2964107634301676,
+              1.0004368604847962
+            ],
+            "current_z": 1.0004368604847962,
+            "required_z": 0.8611069848519242,
+            "initial_z": 0.7611069848519242,
+            "lift_margin": 0.13932987563287202,
+            "gripper_z": 1.0021876080968646,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22987053732603002,
+              0.2913181992645017,
+              1.0021876080968646
+            ],
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+              0.005485226705917501,
+              0.0050925641656658915,
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+            "object_to_gripper_xy": 0.007484779341886767,
+            "object_to_gripper_z": -0.001750747612068393,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23535576403194752,
+              0.2716628417857669,
+              1.0004368604847962
+            ],
+            "finger_b": [
+              0.2231788681634102,
+              0.2964107634301676,
+              1.0004368604847962
+            ],
+            "finger_midpoint": [
+              0.22926731609767886,
+              0.28403680260796726,
+              1.0004368604847962
+            ],
+            "object_minus_finger_midpoint": [
+              0.006088447934268659,
+              0.012373960822200325,
+              0.0
+            ],
+            "finger_gap": 0.027581450627379954,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0004368604847962,
+            "object_top_z": 1.0504710522543694,
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+            "fingertip_min_top_clearance": 0.015010257530871957,
+            "object_projection_between_fingers": 0.8050878210293635,
+            "object_to_finger_line_xy": 0.010925925140697165,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477911242381453,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.10072733424236241,
+            "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": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23745135087627978,
+              -0.021910998949001604,
+              0.7565863285946313
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+            "gripper_position": [
+              0.2453234418119622,
+              -0.03354990224368326,
+              1.0247312163521969
+            ],
+            "target_minus_gripper": [
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ecc5dfeffbe799562fa723ba6cf7096f80aa611d3ba638107527961f85c6de4f",
+    "visual_seed": 266148010704631643,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74983147bb8789dc312c4d3f0d5c41be9c9d2509
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_94_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23569831640394404,
+              0.2977709517850573,
+              1.0035713018327863
+            ],
+            "current_z": 1.0035713018327863,
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+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.14246455539944147,
+            "gripper_z": 1.0049186659112006,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23035087471380664,
+              0.29266235487171466,
+              1.0049186659112006
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+              0.0053474416901374,
+              0.0051085969133426445,
+              -0.0013473640784142926
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+            "object_to_gripper_z": -0.0013473640784142926,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23569831640394404,
+              0.27321389843533433,
+              1.0035713018327863
+            ],
+            "finger_b": [
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+              0.2977709517850573,
+              1.0035713018327863
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+            "finger_midpoint": [
+              0.22954812449736817,
+              0.2854924251101958,
+              1.0035713018327863
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+              0.006150191906575869,
+              0.012278526674861512,
+              0.0
+            ],
+            "finger_gap": 0.02746540207555655,
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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": 0.010997879466343705,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047503096090901156,
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+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.232154226490446,
+              -0.022214673438261324,
+              0.756586388199276
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+            "gripper_position": [
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+              -0.035434484138796005,
+              1.023646319728547
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+              0.01321981070053468,
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+            "held_position": [
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+              -0.030583020058400367,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004851464080395638,
+              -0.0014016041213911201
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+            "max_held_gripper_dist": 0.0075402315328473675,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.023646319728547,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.09734153135847,
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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": 2.4322687893413497,
+            "max_source_tilt_deg": 89.73758128646297,
+            "source_upright_tilt_deg": 2.8084620990970777,
+            "max_source_upright_tilt_deg": 89.74699417215054,
+            "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": 2.4322687893413497,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.6744133545435297e-07,
+            "max_target_xy_drift": 2.8051831725799995e-07,
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+            "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": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2322,
+                -0.0222,
+                0.7566
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+              "controller_target_position": [
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+                -0.0222,
+                0.7566
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+              "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_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6308610439300537
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0008,
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.26943372062282256,
+              -0.3746654644302033,
+              0.8470195182683085
+            ],
+            "target_position": [
+              0.2626591104668163,
+              -0.3748995073414409,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067786516985433,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18404370184151936,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195182683085,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572840376139792,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08726392694927669,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15153986738502487,
+            "release_required_pad_clearance": 0.05363196347463835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2735438288639753,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00771641731262207,
+            "max_z_decrease": 0.00771641731262207,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035045252334242015,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00771641731262207,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021042319030479893,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00771641731262207,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007716907348627201,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1183590367436409,
+              -0.43116095662117004,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1183590367436409,
+              -0.43116095662117004,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11938674646439029,
+              -0.43115005526354633,
+              0.8049447184254688
+            ],
+            "closest_button": [
+              0.11826307326555253,
+              -0.43116438388824463,
+              0.7699174880981445
+            ],
+            "closest_ee_minus_button": [
+              0.0011236731988377574,
+              1.4328624698300985e-05,
+              0.035027230327324244
+            ],
+            "button_min_z_position": [
+              0.11827220767736434,
+              -0.43116581439971924,
+              0.7690924406051636
+            ],
+            "min_active_finger_to_button": 0.14499840548442852,
+            "closest_active_finger": [
+              -0.02170208841562271,
+              -0.41648080945014954,
+              0.811082661151886
+            ],
+            "closest_active_finger_button": [
+              0.11835822463035585,
+              -0.4311548173427582,
+              0.776552677154541
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14006031304597855,
+              0.014674007892608643,
+              0.03452998399734497
+            ],
+            "min_contact_pad_to_button": 0.021042319030479893,
+            "closest_contact_pad": [
+              0.11827220767736434,
+              -0.43222482318040933,
+              0.7901080940706858
+            ],
+            "closest_contact_pad_button": [
+              0.11827220767736434,
+              -0.43116581439971924,
+              0.7690924406051636
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001059008780690096,
+              0.021015653465522255
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e7fea734565bfec7d875b44dec351ab5d5ac6d36b2c5b10de0ca789baeea03b7",
+    "visual_seed": 2202347146018685986,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb0c8c8feb96711268c575d51af46d811428aa62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_96_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.23395439504086882,
+              0.30263628779777496,
+              1.000357930339626
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+            "current_z": 1.000357930339626,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1392513627202152,
+            "gripper_z": 1.0018397712761964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22857579187259186,
+              0.2975964497548015,
+              1.0018397712761964
+            ],
+            "object_minus_gripper": [
+              0.0053786031682769575,
+              0.005039838042973477,
+              -0.0014818409365704444
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+            "object_to_gripper_xy": 0.007370843882568783,
+            "object_to_gripper_z": -0.0014818409365704444,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23395439504086882,
+              0.2779653937962204,
+              1.000357930339626
+            ],
+            "finger_b": [
+              0.22185420795552205,
+              0.30263628779777496,
+              1.000357930339626
+            ],
+            "finger_midpoint": [
+              0.22790430149819543,
+              0.2903008407969977,
+              1.000357930339626
+            ],
+            "object_minus_finger_midpoint": [
+              0.006050093542673385,
+              0.012335447000777267,
+              0.0
+            ],
+            "finger_gap": 0.02747849228644714,
+            "fingertip_max_gap": 0.09057106980605303,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.000357930339626,
+            "object_top_z": 1.0504180504595007,
+            "finger_top_clearance": 0.05006012011987471,
+            "fingertip_min_top_clearance": 0.015018036035962428,
+            "object_projection_between_fingers": 0.8060908196066902,
+            "object_to_finger_line_xy": 0.010863857808123137,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778553490302652,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.14828793092695444,
+            "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": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008032619953155518,
+            "max_z_decrease": 0.008032619953155518,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035002499874535714,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008032619953155518,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020997389044293824,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008032619953155518,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008033146722421359,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12234181165695186,
+              -0.43281349539756775,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12234181165695186,
+              -0.43281349539756775,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12187970215717314,
+              -0.43336365528063653,
+              0.8037724897933162
+            ],
+            "closest_button": [
+              0.12224984169006343,
+              -0.4328156113624573,
+              0.7687762379646301
+            ],
+            "closest_ee_minus_button": [
+              -0.0003701395328902929,
+              -0.0005480439181792529,
+              0.03499625182868604
+            ],
+            "button_min_z_position": [
+              0.12224984169006343,
+              -0.4328156113624573,
+              0.7687762379646301
+            ],
+            "min_active_finger_to_button": 0.146369974756578,
+            "closest_active_finger": [
+              -0.01928967982530594,
+              -0.4196719527244568,
+              0.8107925653457642
+            ],
+            "closest_active_finger_button": [
+              0.12234000116586682,
+              -0.4328090250492096,
+              0.7762582302093506
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14162968099117276,
+              0.013137072324752808,
+              0.034534335136413574
+            ],
+            "min_contact_pad_to_button": 0.020997389044293824,
+            "closest_contact_pad": [
+              0.12224984169006343,
+              -0.43433193068409365,
+              0.7897188051996246
+            ],
+            "closest_contact_pad_button": [
+              0.12224984169006343,
+              -0.4328156113624573,
+              0.7687762379646301
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015163193216363724,
+              0.020942567234994436
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cebaa24ecf747beeddca46b8419e85350f392337e1582f19239a28ed319af7d4",
+    "visual_seed": 3435873600805297500,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bf3405d08a3e878057cd95e916748743b49dd5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_97_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.23685968553158457,
+              0.300325185299745,
+              1.0017936558689398
+            ],
+            "current_z": 1.0017936558689398,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14068708824952902,
+            "gripper_z": 1.0031553755720144,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23143941664676562,
+              0.29531417502327406,
+              1.0031553755720144
+            ],
+            "object_minus_gripper": [
+              0.005420268884818946,
+              0.00501101027647094,
+              -0.0013617197030746375
+            ],
+            "object_to_gripper_xy": 0.007381702972528344,
+            "object_to_gripper_z": -0.0013617197030746375,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.23685968553158457,
+              0.2755453053235471,
+              1.0017936558689398
+            ],
+            "finger_b": [
+              0.2249039486154744,
+              0.300325185299745,
+              1.0017936558689398
+            ],
+            "finger_midpoint": [
+              0.2308818170735295,
+              0.28793524531164605,
+              1.0017936558689398
+            ],
+            "object_minus_finger_midpoint": [
+              0.005977868458055063,
+              0.012389939988098952,
+              0.0
+            ],
+            "finger_gap": 0.027513307631799072,
+            "fingertip_max_gap": 0.09067117893817836,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0017936558689398,
+            "object_top_z": 1.0519081489044044,
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+            "fingertip_min_top_clearance": 0.015034347910639434,
+            "object_projection_between_fingers": 0.8111716963934069,
+            "object_to_finger_line_xy": 0.010767942908681669,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783558946908918,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1820494345032472,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23167186100143997,
+              -0.023934937992285056,
+              0.7565863285946313
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+            "gripper_position": [
+              0.24046167452001158,
+              -0.035598898198062084,
+              1.0246238750733148
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+              0.011663960205777028,
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+              -0.030826126681053525,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0047727715170085595,
+              -0.0014267495061326407
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+            "xy_dist": 0.0146050946375987,
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+            "held_gripper_dist": 0.0074952778572003,
+            "max_held_gripper_dist": 0.007528880633428071,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863285946313,
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+            "required_height": 0.7865863285946313,
+            "gripper_z": 1.0246238750733148,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.16849844213166,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.16866394052119954,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.6875557142466713,
+            "max_source_tilt_deg": 89.66452973555465,
+            "source_upright_tilt_deg": 2.627595618227692,
+            "max_source_upright_tilt_deg": 89.75454210670463,
+            "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": 2.6875557142466713,
+            "source_upright_return_tilt_deg": 2.627595618227692,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.358602815887402e-07,
+            "max_target_xy_drift": 7.445386663178028e-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": {},
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+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa79639f79eda88db8967f0cd2acef9ae7c68b37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_99_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.001310152394621
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+              0.29295628446768546,
+              1.0032296791602913
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+              0.005543863784161912,
+              0.005082226980591686,
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+            "object_to_gripper_z": -0.0019195267656701986,
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+              0.27326423296674185,
+              1.001310152394621
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+              1.001310152394621
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+              0.28565137220750947,
+              1.001310152394621
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+              0.012387139240767675,
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+            "stable_success_frames": 159,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/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_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              1.0249442581416874
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+              "skill": "pour",
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550244172062488,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642760726284919,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15423478164420223,
+            "release_required_pad_clearance": 0.0532138036314246,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4493952284808558,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008025944232940674,
+            "max_z_decrease": 0.008025944232940674,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507645244727881,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008025944232940674,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021198029960397363,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008025944232940674,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008026421479155721,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12534666061401364,
+              -0.43496221303939814,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12534666061401364,
+              -0.43496221303939814,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.124093342236763,
+              -0.43676111438327975,
+              0.8053213942978795
+            ],
+            "closest_button": [
+              0.12526151537895203,
+              -0.43496459722518915,
+              0.7703104615211487
+            ],
+            "closest_ee_minus_button": [
+              -0.001168173142189033,
+              -0.0017965171580905936,
+              0.03501093277673084
+            ],
+            "button_min_z_position": [
+              0.12525917589664456,
+              -0.4349649250507354,
+              0.768782913684845
+            ],
+            "min_active_finger_to_button": 0.14695206674617411,
+            "closest_active_finger": [
+              -0.016592592000961304,
+              -0.41849154233932495,
+              0.8106441497802734
+            ],
+            "closest_active_finger_button": [
+              0.12533701956272125,
+              -0.43496116995811457,
+              0.7762981653213501
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14192961156368256,
+              0.016469627618789617,
+              0.03434598445892334
+            ],
+            "min_contact_pad_to_button": 0.021198029960397363,
+            "closest_contact_pad": [
+              0.12525917589664456,
+              -0.4381927362962195,
+              0.7897337539726575
+            ],
+            "closest_contact_pad_button": [
+              0.12525917589664456,
+              -0.4349649250507354,
+              0.768782913684845
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0032278112454841024,
+              0.020950840287812578
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 256126101476888679,
+    "physical_seed": 2666459563728337380,
+    "layout_id": "layout_00008",
+    "step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "workflow_spec_digest": "d6808fbd7f77e03d6e11a34024ab015a54d9b1e6cdafb8bc2a78535b53d4c0ed",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "890e578138203ab606552fc67832c490be7799a02cadb8f8edcecd05d1abd1ef",
+    "visual_seed": 2289434918532174441,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      311217257694147886,
+      3018262179648942721,
+      2316423958212659800,
+      9104040522929253704,
+      6368823502811198725,
+      1704462229908125271
+    ],
+    "runtime_workflow_digest": "05323f8c121e47dbed46eb7a62725f6b80d3085396af8ed957e988716f535b62"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..702df2a57c0c8c5362879fe6304756d98e30ef77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00008/results/episode_9_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2404612830543371,
+              0.2957038319138797,
+              1.0022388023100857
+            ],
+            "current_z": 1.0022388023100857,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1411320558767406,
+            "gripper_z": 1.0038357239196602,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23478199370030844,
+              0.2906730816052421,
+              1.0038357239196602
+            ],
+            "object_minus_gripper": [
+              0.005679289354028644,
+              0.005030750308637644,
+              -0.0015969216095745864
+            ],
+            "object_to_gripper_xy": 0.00758701365720669,
+            "object_to_gripper_z": -0.0015969216095745864,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2404612830543371,
+              0.270641731693275,
+              1.0022388023100857
+            ],
+            "finger_b": [
+              0.22860077464291498,
+              0.2957038319138797,
+              1.0022388023100857
+            ],
+            "finger_midpoint": [
+              0.23453102884862603,
+              0.28317278180357736,
+              1.0022388023100857
+            ],
+            "object_minus_finger_midpoint": [
+              0.005930254205711055,
+              0.012531050110302366,
+              0.0
+            ],
+            "finger_gap": 0.027726891770356272,
+            "fingertip_max_gap": 0.0905648138530257,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013863445885178136,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0022388023100857,
+            "object_top_z": 1.0523144646369575,
+            "finger_top_clearance": 0.050075662326871884,
+            "fingertip_min_top_clearance": 0.015022698698061564,
+            "object_projection_between_fingers": 0.817019741275815,
+            "object_to_finger_line_xy": 0.010720612066303994,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778240692651285,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19200249884858503,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aa0a0a4dd781d71473eac63d49b6bd660a1b1322
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/dataset/meta/randomization_episodes.jsonl
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aporating_dish_g04_m02_11","position":[-0.34026635561130375,0.10226358403245417,0.71338606911949],"aabb_xy":[[-0.4002663572542256,0.050263434740509996],[-0.2802663539683819,0.15426373332439836]]},{"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_12","position":[-0.18401984575821884,-0.371671956100045,0.71338606911949],"aabb_xy":[[-0.24901984686416212,-0.3966373291681733],[-0.11901984465227555,-0.3467065830319167]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[-0.30960946129193323,1.4199387475451855,0.71338606911949],"aabb_xy":[[-0.31760295108721526,1.4119406156047098],[-0.3016159714966512,1.427936879485661]]},{"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_14","position":[-0.20958779337111616,1.3578267397616193,0.71338606911949],"aabb_xy":[[-0.21492536903712073,1.3328267388324797],[-0.2042502177051116,1.3828267406907593]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.4499609431827658,1.1446470881721211,0.71338606911949],"aabb_xy":[[0.38596094678719267,1.0806837997533876],[0.5139609395783389,1.2086103765908547]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.6313318242527812,1.7556196518727476,0.71338606911949],"aabb_xy":[[0.627195967920081,1.7181196524283908],[0.6354676805854814,1.7931196513171048]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.5763034872057533,-1.0266163945017701,0.71338606911949],"aabb_xy":[[0.5263086542778116,-1.0766163933970136],[0.6262983201336948,-0.9766163956065266]]},{"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_18","position":[0.6540841554758725,-1.835026516750117,0.71338606911949],"aabb_xy":[[0.6340257438626322,-1.8550916036592746],[0.6741425670891128,-1.8149614298409598]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.43307222933715944,0.9447463969713779,0.71338606911949],"aabb_xy":[[-0.48307222798308064,0.8948268533119155],[-0.38307223069123825,0.9946659406308402]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[0.10453061523143647,-1.0004111840021683,0.71338606911949],"aabb_xy":[[0.024530614957829485,-1.0733607318278848],[0.18453061550504343,-0.9274616361764515]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[0.07364601636562318,0.7034322888787559,0.71338606911949],"aabb_xy":[[0.054761632597112975,0.6845463640984031],[0.09253040013413338,0.7223182136591086]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[0.06141859981537712,-1.7848552195488137,0.71338606911949],"aabb_xy":[[0.03924607283872627,-1.8070308867049365],[0.08359112679202794,-1.7626795523926904]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/a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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..79414a46a24053e8f1dc260f30bd2997ea9950b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/resolved_config.yaml
@@ -0,0 +1,318 @@
+name: lab3_heat_2beaker_s06_polplr_htf_00009
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into beaker b and
+    return it upright. Place beaker a at home. Pick up beaker b from home. Place beaker
+    b on the heater platform. Press the heater button to start heating.
+  layout_id: layout_00009
+  reproducibility:
+    enabled: true
+    layout_id: layout_00009
+    action_seed: 653728589176665210
+    step_seeds:
+    - 4514413757167771029
+    - 4854378746948072118
+    - 9146690148224788191
+    - 1424608895391860828
+    - 4680139622970940367
+    - 3172284635944930312
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2201
+      - 0.2201
+      'y':
+      - 0.211
+      - 0.211
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1714
+      - 0.1714
+      'y':
+      - -0.0889
+      - -0.0889
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3321
+      - 0.3321
+      'y':
+      - 0.0736
+      - 0.0736
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2637
+      - 0.2637
+      'y':
+      - -0.3071
+      - -0.3071
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9043b1d575f068a2197ff31d8fd46fa3af5f3306
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_0_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24721238547619528,
+              0.21977257473926765,
+              1.0011286947500788
+            ],
+            "current_z": 1.0011286947500788,
+            "required_z": 0.8611066623426049,
+            "initial_z": 0.7611066623426049,
+            "lift_margin": 0.1400220324074739,
+            "gripper_z": 1.0031201966779495,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24183989184224666,
+              0.2148857236561581,
+              1.0031201966779495
+            ],
+            "object_minus_gripper": [
+              0.005372493633948622,
+              0.004886851083109545,
+              -0.001991501927870676
+            ],
+            "object_to_gripper_xy": 0.007262575394122074,
+            "object_to_gripper_z": -0.001991501927870676,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24721238547619528,
+              0.19498518350404548,
+              1.0011286947500788
+            ],
+            "finger_b": [
+              0.23555206037079848,
+              0.21977257473926765,
+              1.0011286947500788
+            ],
+            "finger_midpoint": [
+              0.24138222292349687,
+              0.20737887912165656,
+              1.0011286947500788
+            ],
+            "object_minus_finger_midpoint": [
+              0.005830162552698415,
+              0.012393695617611084,
+              0.0
+            ],
+            "finger_gap": 0.027393027321044962,
+            "fingertip_max_gap": 0.09095870464851252,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013696513660522486,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0011286947500788,
+            "object_top_z": 1.0513131034118035,
+            "finger_top_clearance": 0.05018440866172469,
+            "fingertip_min_top_clearance": 0.015055322598517405,
+            "object_projection_between_fingers": 0.8188070660625479,
+            "object_to_finger_line_xy": 0.010551190159815019,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047979352324256264,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.17512197840573765,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19238997120518297,
+              -0.09184634869654017,
+              0.7565862689899865
+            ],
+            "gripper_position": [
+              0.19680657187082934,
+              -0.10380033449011024,
+              1.0165420002013756
+            ],
+            "target_minus_gripper": [
+              -0.004416600665646364,
+              0.011953985793570071,
+              -0.25995573121138915
+            ],
+            "held_position": [
+              0.2022236034210344,
+              -0.09901782644301603,
+              1.0144819301047279
+            ],
+            "held_minus_target": [
+              0.009833632215851429,
+              -0.007171477746475863,
+              0.2578956611147414
+            ],
+            "held_minus_gripper": [
+              0.005417031550205065,
+              0.004782508047094208,
+              -0.0020600700966477703
+            ],
+            "xy_dist": 0.012743788204166884,
+            "held_xy_dist": 0.012170883929478155,
+            "held_gripper_dist": 0.007514020417828281,
+            "max_held_gripper_dist": 0.0076147783286072985,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565862689899865,
+            "held_z": 1.0144819301047279,
+            "required_height": 0.7865862689899865,
+            "gripper_z": 1.0165420002013756,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.51618805563876,
+            "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": 0.4990468991370584,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.770435035158807,
+            "max_source_tilt_deg": 89.5572316332309,
+            "source_upright_tilt_deg": 2.6411727243403575,
+            "max_source_upright_tilt_deg": 89.77472834854329,
+            "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": 2.770435035158807,
+            "source_upright_return_tilt_deg": 2.6411727243403575,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.0018704539524867e-07,
+            "max_target_xy_drift": 1.2660068994678137e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1924,
+                -0.0918,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.1924,
+                -0.0918,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0012,
+                0.0005,
+                -0.001
+              ],
+              "controller_last_pour_pose_position": [
+                0.1912,
+                -0.1166,
+                1.0208
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  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": [
+                  -0.0012254747952977624,
+                  0.0004637318036843866,
+                  -0.001020528497537307
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.641173229913018,
+              "source_return_step_error_deg": 2.7704357431165296,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.793547635874422,
+              "source_return_best_wrist_position": -1.6264026165008545,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6264026165008545
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
+              0.1924,
+              -0.0918,
+              0.7566
+            ],
+            "pour_controller_controller_target_position": [
+              0.1924,
+              -0.0918,
+              0.7566
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              0.0,
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+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3264637639111994,
+              -0.3095656264848956,
+              0.847018767719194
+            ],
+            "target_position": [
+              0.31954175666039075,
+              -0.30988637982405326,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006929434831559385,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18816666521747397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847018767719194,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566203506425359,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08808996444638438,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15581087949148897,
+            "release_required_pad_clearance": 0.05404498222319219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0992993252272543,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074391961097717285,
+            "max_z_decrease": 0.0074391961097717285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501300341247072,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074391961097717285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021073052598465678,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074391961097717285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007439631763431293,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17524167895317072,
+              -0.3661478459835052,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17524167895317072,
+              -0.3661478459835052,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17387055050617636,
+              -0.36672521907245464,
+              0.8053935178133779
+            ],
+            "closest_button": [
+              0.17515784502029413,
+              -0.3661638796329498,
+              0.7704086899757385
+            ],
+            "closest_ee_minus_button": [
+              -0.0012872945141177705,
+              -0.000561339439504871,
+              0.03498482783763934
+            ],
+            "button_min_z_position": [
+              0.17516273260116572,
+              -0.36616364121437067,
+              0.7693696618080139
+            ],
+            "min_active_finger_to_button": 0.14721688735139968,
+            "closest_active_finger": [
+              0.03284168988466263,
+              -0.35186654329299927,
+              0.8095255494117737
+            ],
+            "closest_active_finger_button": [
+              0.17524959146976465,
+              -0.36615797877311695,
+              0.7750501036643982
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14240790158510203,
+              0.014291435480117687,
+              0.03447544574737549
+            ],
+            "min_contact_pad_to_button": 0.021073052598465678,
+            "closest_contact_pad": [
+              0.17516273260116572,
+              -0.36782882061702554,
+              0.7903768206681424
+            ],
+            "closest_contact_pad_button": [
+              0.17516273260116572,
+              -0.36616364121437067,
+              0.7693696618080139
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016651794026548705,
+              0.021007158860128494
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "974ea93db7ff59dfeb194a8d94be23c497b60f9a8206e8379d701e147b610e81",
+    "visual_seed": 8340169123842275288,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d7beb76fe6c31e18590c868ac0bc03ec3e1bfb7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_100_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.21595008187404857,
+              1.0007422005488091
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+            "current_z": 1.0007422005488091,
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+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1396353945108193,
+            "gripper_z": 1.0030238487493546,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2395003146020681,
+              0.21090750966477245,
+              1.0030238487493546
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+              0.005227838869223456,
+              0.005042572209276119,
+              -0.0022816482005454386
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+            "object_to_gripper_xy": 0.007263458799244849,
+            "object_to_gripper_z": -0.0022816482005454386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24472815347129157,
+              0.19158530281362937,
+              1.0007422005488091
+            ],
+            "finger_b": [
+              0.23240776105485506,
+              0.21595008187404857,
+              1.0007422005488091
+            ],
+            "finger_midpoint": [
+              0.2385679572630733,
+              0.20376769234383896,
+              1.0007422005488091
+            ],
+            "object_minus_finger_midpoint": [
+              0.006160196208218255,
+              0.012182389530209614,
+              0.0
+            ],
+            "finger_gap": 0.027302646903881466,
+            "fingertip_max_gap": 0.09087515858365641,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007500946521759033,
+            "max_z_decrease": 0.007500946521759033,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502068800059143,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007500946521759033,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111696502475602,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007500946521759033,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007501431664720761,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1756302863359451,
+              -0.36823162436485285,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1756302863359451,
+              -0.36823162436485285,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17373942605055845,
+              -0.3681467843197888,
+              0.8060211633073354
+            ],
+            "closest_button": [
+              0.17560096085071564,
+              -0.3682345151901244,
+              0.7710500955581665
+            ],
+            "closest_ee_minus_button": [
+              -0.0018615348001571885,
+              8.773087033558946e-05,
+              0.034971067749168916
+            ],
+            "button_min_z_position": [
+              0.17554497718811035,
+              -0.3682324290275573,
+              0.7693079113960266
+            ],
+            "min_active_finger_to_button": 0.147647954248385,
+            "closest_active_finger": [
+              0.046572983264923096,
+              -0.4310973882675171,
+              0.8106705546379089
+            ],
+            "closest_active_finger_button": [
+              0.17563137412071228,
+              -0.36824077367782587,
+              0.7761322259902954
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12905839085578918,
+              -0.06285661458969122,
+              0.034538328647613525
+            ],
+            "min_contact_pad_to_button": 0.02111696502475602,
+            "closest_contact_pad": [
+              0.17554497718811035,
+              -0.36938243667666804,
+              0.7903935390666404
+            ],
+            "closest_contact_pad_button": [
+              0.17554497718811035,
+              -0.3682324290275573,
+              0.7693079113960266
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001150007649110718,
+              0.021085627670613838
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6cefb68815c458a4d4c6389e50606848032a46eeeacb2a3de51872d9241558d",
+    "visual_seed": 846719689854389592,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39d3208cf5a06828c9068383a9267190538c19d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_101_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24900965778921905,
+              0.21350911422635496,
+              1.0017548703160006
+            ],
+            "current_z": 1.0017548703160006,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.14064830269658968,
+            "gripper_z": 1.0040639029580252,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2437297824274429,
+              0.2084739869333453,
+              1.0040639029580252
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+            "object_minus_gripper": [
+              0.005279875361776154,
+              0.005035127293009672,
+              -0.0023090326420245333
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+            "object_to_gripper_xy": 0.007295861202949367,
+            "object_to_gripper_z": -0.0023090326420245333,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24900965778921905,
+              0.18906963026086224,
+              1.0017548703160006
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+            "finger_b": [
+              0.23671277365683116,
+              0.21350911422635496,
+              1.0017548703160006
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+            "finger_midpoint": [
+              0.2428612157230251,
+              0.2012893722436086,
+              1.0017548703160006
+            ],
+            "object_minus_finger_midpoint": [
+              0.006148442066193943,
+              0.012219741982746363,
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+            ],
+            "finger_gap": 0.027358759764743522,
+            "fingertip_max_gap": 0.0907962840713368,
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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": 0.7979786123132571,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478981420356684,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18559627662382874,
+              -0.08748472253189035,
+              0.7565863609433229
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+            "gripper_position": [
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+              -0.09917452394222077,
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+              0.004756242698124052,
+              -0.002339027578933228
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+            "held_gripper_dist": 0.0076320049444953495,
+            "max_held_gripper_dist": 0.007761409210486882,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863609433229,
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+            "required_height": 0.7865863609433229,
+            "gripper_z": 1.0185254615536812,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.47134786373763,
+            "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": 0.6528774670340517,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8442832658805886,
+            "max_source_tilt_deg": 89.53159592681257,
+            "source_upright_tilt_deg": 2.9786913415674205,
+            "max_source_upright_tilt_deg": 89.82120966948574,
+            "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,
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+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
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+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4256d73332e3f60bc375b107daea2725ac98b249daa06c8c6790c3b3fde0f6f5",
+    "visual_seed": 5749416118165067829,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a6d6727b0ea34431aa9fc4f41d3486f22e12fe7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_102_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "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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+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
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+            "peak_end_effector_tilt_pose_metrics": {},
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+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32151070894457723,
+              -0.3080675653853744,
+              0.8470194259297594
+            ],
+            "target_position": [
+              0.31518557882226106,
+              -0.3080580649797936,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0063251372571619,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1871297645692124,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194259297594,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549413095861991,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08684461344227577,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1550607249924507,
+            "release_required_pad_clearance": 0.05342230672113789,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8582972183180135,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072269439697265625,
+            "max_z_decrease": 0.0072269439697265625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0349977689967212,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072269439697265625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021209778985027492,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0072269439697265625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007227100235942952,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1708855032920838,
+              -0.36431953310966486,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1708855032920838,
+              -0.36431953310966486,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17022796816057836,
+              -0.3652539500990031,
+              0.8063425311609071
+            ],
+            "closest_button": [
+              0.17081765830516818,
+              -0.36433389782905573,
+              0.7713618278503418
+            ],
+            "closest_ee_minus_button": [
+              -0.0005896901445898162,
+              -0.0009200522699473468,
+              0.03498070331056535
+            ],
+            "button_min_z_position": [
+              0.17083977162837988,
+              -0.3643324673175811,
+              0.7695819139480591
+            ],
+            "min_active_finger_to_button": 0.14658477609399306,
+            "closest_active_finger": [
+              0.029365889728069305,
+              -0.3482004702091217,
+              0.8077049255371094
+            ],
+            "closest_active_finger_button": [
+              0.17089328169822698,
+              -0.364332228899002,
+              0.7731092572212219
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14152739197015768,
+              0.016131758689880316,
+              0.03459566831588745
+            ],
+            "min_contact_pad_to_button": 0.021209778985027492,
+            "closest_contact_pad": [
+              0.17081418633461,
+              -0.36660429927678356,
+              0.791078692753799
+            ],
+            "closest_contact_pad_button": [
+              0.17081418633461,
+              -0.3643359243869781,
+              0.7699905633926392
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002268374889805469,
+              0.02108812936115989
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a312547b0ec3d22501f0361a5517aec6229fdef6e85c82eb29f6a2b9d19d92a2",
+    "visual_seed": 2609516500445371834,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c04d34c007e7aefabff4ae229f381d6859db343
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_103_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2478912546682798,
+              0.2104457343092694,
+              0.9997283895728442
+            ],
+            "current_z": 0.9997283895728442,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.13862200076736775,
+            "gripper_z": 1.0019940272695147,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2424713771737493,
+              0.2055361805975694,
+              1.0019940272695147
+            ],
+            "object_minus_gripper": [
+              0.0054198774945304895,
+              0.004909553711700015,
+              -0.0022656376966705416
+            ],
+            "object_to_gripper_xy": 0.00731291936943007,
+            "object_to_gripper_z": -0.0022656376966705416,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2478912546682798,
+              0.18556384665069656,
+              0.9997283895728442
+            ],
+            "finger_b": [
+              0.2362241795403269,
+              0.2104457343092694,
+              0.9997283895728442
+            ],
+            "finger_midpoint": [
+              0.24205771710430335,
+              0.19800479047998298,
+              0.9997283895728442
+            ],
+            "object_minus_finger_midpoint": [
+              0.005833537563976449,
+              0.012440943829286427,
+              0.0
+            ],
+            "finger_gap": 0.027481429647948398,
+            "fingertip_max_gap": 0.09074264787184458,
+            "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": 0.9997283895728442,
+            "object_top_z": 1.0497791691144276,
+            "finger_top_clearance": 0.050050779541583434,
+            "fingertip_min_top_clearance": 0.01501523386247503,
+            "object_projection_between_fingers": 0.8197624211226074,
+            "object_to_finger_line_xy": 0.010563455262580386,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787132393592229,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.17031676018607622,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              0.1755667775869369,
+              -0.36034876108169556,
+              0.7696651220321655
+            ],
+            "closest_ee_minus_button": [
+              -0.00023459076303661286,
+              -0.0003830654921446186,
+              0.03498447561569573
+            ],
+            "button_min_z_position": [
+              0.175567016005516,
+              -0.36034840345382685,
+              0.7695393562316895
+            ],
+            "min_active_finger_to_button": 0.14620696810899958,
+            "closest_active_finger": [
+              0.03469681739807129,
+              -0.3435062766075134,
+              0.8079560399055481
+            ],
+            "closest_active_finger_button": [
+              0.175673097372055,
+              -0.36035194993019104,
+              0.7730506062507629
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1409762799739837,
+              0.016845673322677612,
+              0.034905433654785156
+            ],
+            "min_contact_pad_to_button": 0.02129966421237314,
+            "closest_contact_pad": [
+              0.175567016005516,
+              -0.3620342944436229,
+              0.7907721955879878
+            ],
+            "closest_contact_pad_button": [
+              0.175567016005516,
+              -0.36034840345382685,
+              0.7695393562316895
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016858909897960461,
+              0.021232839356298383
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9572c03cb9257d3a11ebecc85e70abc8a6e7798c6119291dbb1b027e379819d",
+    "visual_seed": 2843139195951848803,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..17afc7eaadffe517929ddc3ca21263f297c25a00
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_104_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24573583170257599,
+              0.21282347997245746,
+              1.0004726546658906
+            ],
+            "current_z": 1.0004726546658906,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1393658486279008,
+            "gripper_z": 1.0027852399582755,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24037306699498323,
+              0.20780584130506208,
+              1.0027852399582755
+            ],
+            "object_minus_gripper": [
+              0.005362764707592754,
+              0.00501763866739538,
+              -0.002312585292384872
+            ],
+            "object_to_gripper_xy": 0.0073441094154120335,
+            "object_to_gripper_z": -0.002312585292384872,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24573583170257599,
+              0.18823642101798652,
+              1.0004726546658906
+            ],
+            "finger_b": [
+              0.23357865886632678,
+              0.21282347997245746,
+              1.0004726546658906
+            ],
+            "finger_midpoint": [
+              0.23965724528445137,
+              0.200529950495222,
+              1.0004726546658906
+            ],
+            "object_minus_finger_midpoint": [
+              0.006078586418124615,
+              0.01229352947723547,
+              0.0
+            ],
+            "finger_gap": 0.027428458203133933,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013714229101566973,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0004726546658906,
+            "object_top_z": 1.0504849927811397,
+            "finger_top_clearance": 0.05001233811524908,
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+            "object_projection_between_fingers": 0.8035453149954809,
+            "object_to_finger_line_xy": 0.01089777351066708,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478493763823373,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.14831879267714507,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18616416874730823,
+              -0.08808693023291053,
+              0.7565863631015846
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+            "gripper_position": [
+              0.1917518186536185,
+              -0.09942974213547932,
+              1.0168289118963494
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+            "target_minus_gripper": [
+              -0.005587649906310277,
+              0.011342811902568792,
+              -0.2602425487947648
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+            "held_position": [
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+              -0.09465586136230145,
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+            "held_minus_target": [
+              0.011126216111946585,
+              -0.006568931129390915,
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+            "held_minus_gripper": [
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+              0.004773880773177877,
+              -0.0023458538845351207
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+            "xy_dist": 0.012644414313543571,
+            "held_xy_dist": 0.012920663340263178,
+            "held_gripper_dist": 0.007679106959687597,
+            "max_held_gripper_dist": 0.007810034568614857,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863631015846,
+            "held_z": 1.0144830580118143,
+            "required_height": 0.7865863631015846,
+            "gripper_z": 1.0168289118963494,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.65066765020715,
+            "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": 0.4422523185017914,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.875735571551938,
+            "max_source_tilt_deg": 89.79817378669382,
+            "source_upright_tilt_deg": 2.9861386325236743,
+            "max_source_upright_tilt_deg": 89.98444897750593,
+            "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": 2.875735571551938,
+            "source_upright_return_tilt_deg": 2.9861386325236743,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.987670607366217e-08,
+            "max_target_xy_drift": 1.0353933944141267e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.03956432714233377,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 3.6453235348300105e-05,
+            "max_target_tilt_deg": 0.000630952588143599,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1862,
+                -0.0881,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.1862,
+                -0.0881,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0015,
+                -0.0007
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+              "controller_last_pour_pose_position": [
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+                -0.1117,
+                1.0211
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0603,
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+              "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,
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint6",
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3223245522337551,
+              -0.3049942637222851,
+              0.847019716410155
+            ],
+            "target_position": [
+              0.31604490605903923,
+              -0.30508307834894355,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062802742071928885,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18536765986709733,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019716410155,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520457197094364,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08684228245310253,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15419332671510316,
+            "release_required_pad_clearance": 0.05342114122655127,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8566117086784173,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00729447603225708,
+            "max_z_decrease": 0.00729447603225708,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500391959053851,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00729447603225708,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021210494182231684,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00729447603225708,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007294843343128519,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17174483835697177,
+              -0.3613445460796355,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17174483835697177,
+              -0.3613445460796355,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1719634568872914,
+              -0.3624332761947551,
+              0.8056593507158573
+            ],
+            "closest_button": [
+              0.1716924458742142,
+              -0.3613529503345489,
+              0.7706731557846069
+            ],
+            "closest_ee_minus_button": [
+              0.00027101101307719366,
+              -0.0010803258602062327,
+              0.034986194931250325
+            ],
+            "button_min_z_position": [
+              0.17167322337627416,
+              -0.3613597154617309,
+              0.7695143818855286
+            ],
+            "min_active_finger_to_button": 0.14565766947054914,
+            "closest_active_finger": [
+              0.03106871247291565,
+              -0.34625986218452454,
+              0.8081339597702026
+            ],
+            "closest_active_finger_button": [
+              0.17175315320491794,
+              -0.36135888099670405,
+              0.7735497951507568
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14068444073200229,
+              0.01509901881217951,
+              0.0345841646194458
+            ],
+            "min_contact_pad_to_button": 0.021210494182231684,
+            "closest_contact_pad": [
+              0.17166785895824438,
+              -0.3636665445073476,
+              0.790736089940496
+            ],
+            "closest_contact_pad_button": [
+              0.17166785895824438,
+              -0.36135971546173085,
+              0.7696514129638672
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002306829045616743,
+              0.021084676976628858
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4bb76ff4bcc52f477a9edc34af1e8d73e129bb3c08e6872e91de07a937976e6",
+    "visual_seed": 1826876978638853336,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddd69fc0a5f4c1581713c19ff46909b7696ecb26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_105_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25031140075753144,
+              0.2136843277482177,
+              0.9999495061208225
+            ],
+            "current_z": 0.9999495061208225,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1388429981060565,
+            "gripper_z": 1.0023812884090997,
+            "force_virtual_attach": false,
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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": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072713494300842285,
+            "max_z_decrease": 0.0072713494300842285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498444674274237,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072713494300842285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106374628078508,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0072713494300842285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007271713734411797,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16935408115386963,
+              -0.3601324260234832,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16935408115386963,
+              -0.3601324260234832,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1682255275941587,
+              -0.3593801636043357,
+              0.8047155549716606
+            ],
+            "closest_button": [
+              0.16933658719062805,
+              -0.3601326644420624,
+              0.7697568535804749
+            ],
+            "closest_ee_minus_button": [
+              -0.0011110595964693437,
+              0.0007525008377266551,
+              0.03495870139118573
+            ],
+            "button_min_z_position": [
+              0.16928236186504364,
+              -0.36014485359191895,
+              0.7695375084877014
+            ],
+            "min_active_finger_to_button": 0.14651374767336597,
+            "closest_active_finger": [
+              0.04078954458236694,
+              -0.4213465452194214,
+              0.8100146651268005
+            ],
+            "closest_active_finger_button": [
+              0.16935500502586365,
+              -0.36013796925544733,
+              0.7755079865455627
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285654604434967,
+              -0.061208575963974055,
+              0.03450667858123779
+            ],
+            "min_contact_pad_to_button": 0.02106374628078508,
+            "closest_contact_pad": [
+              0.16933658719062805,
+              -0.3606591030085899,
+              0.7908140202896254
+            ],
+            "closest_contact_pad_button": [
+              0.16933658719062805,
+              -0.3601326644420624,
+              0.7697568535804749
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005264385665275095,
+              0.021057166709150588
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "565d52ca3a17606fd7ae7ba0eb7af590de1e8c0b14a9e40fcc97bb929af3d153",
+    "visual_seed": 3114639291130917495,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0478cf8f89116f0e5ffba47665daf8349d25c9e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_106_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24266597231268705,
+              0.21383048049763734,
+              1.0028099631325091
+            ],
+            "current_z": 1.0028099631325091,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14170345511774318,
+            "gripper_z": 1.005057912714161,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23731473686602586,
+              0.20889791836830418,
+              1.005057912714161
+            ],
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+              0.00535123544666119,
+              0.004932562129333157,
+              -0.0022479495816518646
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+            "object_to_gripper_xy": 0.007277766825430369,
+            "object_to_gripper_z": -0.0022479495816518646,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24266597231268705,
+              0.1891483566342883,
+              1.0028099631325091
+            ],
+            "finger_b": [
+              0.23079600109637632,
+              0.21383048049763734,
+              1.0028099631325091
+            ],
+            "finger_midpoint": [
+              0.2367309867045317,
+              0.2014894185659628,
+              1.0028099631325091
+            ],
+            "object_minus_finger_midpoint": [
+              0.005934985608155363,
+              0.01234106193167453,
+              0.0
+            ],
+            "finger_gap": 0.027388016632858773,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0028099631325091,
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+            "fingertip_min_top_clearance": 0.015023044765555176,
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+            "object_to_finger_line_xy": 0.010697236815018978,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796231934656886,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.16821204938388917,
+            "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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19300520401141757,
+              -0.08850395956542262,
+              0.7565863470389405
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+            "gripper_position": [
+              0.19823797364018983,
+              -0.10218770191057694,
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+            "held_minus_target": [
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+              0.0048544059365739495,
+              -0.0023050805822220077
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+            "xy_dist": 0.014650142748668724,
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+            "held_gripper_dist": 0.00759977596375441,
+            "max_held_gripper_dist": 0.007725892911339933,
+            "held_gripper_threshold": 0.12,
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c768b3e0e53f0d58e391a9ce99ade71f311af5786b4249ebd7c52a4778553231",
+    "visual_seed": 2874030597272077394,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0dd03e8ac1c0c96f73b920b3179eec227e8faa0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_108_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.21106737469432646,
+              1.0030831273657346
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+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.14197650014167895,
+            "gripper_z": 1.0056549695502452,
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+              0.2061068060510775,
+              1.0056549695502452
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+              0.004960568643248953,
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+            "object_to_gripper_z": -0.0025718421845106754,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.1865184048350057,
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+            "finger_b": [
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+              0.21106737469432646,
+              1.0030831273657346
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+              0.19879288976466608,
+              1.0030831273657346
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+              0.012274484929660379,
+              0.0
+            ],
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783286386802371,
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+              1.0
+            ],
+            "stable_success_frames": 160,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565863979914893
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+              -0.09831118990044994,
+              1.0188180770223891
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+              0.004722014957489418,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 1.285460333758516e-07,
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+            "max_target_tilt_deg": 0.0006405089330404446,
+            "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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+              "controller_target_minus_raw_target": [
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+              "controller_last_pour_pose_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+            "pour_controller_skill": "pour",
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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
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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
+              ],
+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
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+                0.0016570172546860181,
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+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+            },
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+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32030834501937444,
+              -0.3103116240439128,
+              0.8470195405465004
+            ],
+            "target_position": [
+              0.3136369486968304,
+              -0.31045393916419295,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006672914092502206,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18644495846448483,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195405465004,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556315930523137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08851687008623298,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15440449319065785,
+            "release_required_pad_clearance": 0.05425843504311649,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5353723837685584,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007282555103302002,
+            "max_z_decrease": 0.007282555103302002,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035042521431464684,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007282555103302002,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103624642089272,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007282555103302002,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007283006860370897,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16933687031269073,
+              -0.3667154014110565,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16933687031269073,
+              -0.3667154014110565,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16803102850755558,
+              -0.367025847062802,
+              0.8051277495819008
+            ],
+            "closest_button": [
+              0.16925182938575747,
+              -0.36673036217689514,
+              0.7701077461242676
+            ],
+            "closest_ee_minus_button": [
+              -0.0012208008782018942,
+              -0.0002954848859068604,
+              0.03502000345763323
+            ],
+            "button_min_z_position": [
+              0.1692575961351395,
+              -0.3667325973510742,
+              0.7695263028144836
+            ],
+            "min_active_finger_to_button": 0.1470683435164356,
+            "closest_active_finger": [
+              0.02710237354040146,
+              -0.35190528631210327,
+              0.8106884360313416
+            ],
+            "closest_active_finger_button": [
+              0.16933861374855042,
+              -0.36672669649124146,
+              0.776362419128418
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14223624020814896,
+              0.014821410179138184,
+              0.034326016902923584
+            ],
+            "min_contact_pad_to_button": 0.02103624642089272,
+            "closest_contact_pad": [
+              0.1692575961351395,
+              -0.3681381093981986,
+              0.7905155428999634
+            ],
+            "closest_contact_pad_button": [
+              0.1692575961351395,
+              -0.3667325973510742,
+              0.7695263028144836
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014055120471243576,
+              0.020989240085479755
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a1370afba804fa6795653388d3cf42bf6935230fb1475ef8bfe6242d1fd89a5",
+    "visual_seed": 3155916096715393476,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2cf0a9acc63b35a24891fece8c77496e9e1dbcf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_109_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.21130959081831802,
+              1.0026240396193113
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+            "lift_margin": 0.14151741239525562,
+            "gripper_z": 1.005294711369562,
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+            "gripper_position": [
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+              0.206446578869039,
+              1.005294711369562
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+              0.004863011949279017,
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+            "object_to_gripper_z": -0.0026706717502507082,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24760868283065185,
+              0.18676733221878525,
+              1.0026240396193113
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+            "finger_b": [
+              0.23584438541789612,
+              0.21130959081831802,
+              1.0026240396193113
+            ],
+            "finger_midpoint": [
+              0.24172653412427397,
+              0.19903846151855165,
+              1.0026240396193113
+            ],
+            "object_minus_finger_midpoint": [
+              0.005882148706377877,
+              0.01227112929976637,
+              0.0
+            ],
+            "finger_gap": 0.027216192804690946,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8131568222810448,
+            "object_to_finger_line_xy": 0.010608479717115387,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.430353706902206,
+            "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": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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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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+                "joint3",
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+                "joint6",
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+                "left_inner_finger",
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+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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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",
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+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021242173668422126,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007460892200469971,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007461457919827327,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1734384298324585,
+              -0.3643762469291687,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1734384298324585,
+              -0.3643762469291687,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17436600058016952,
+              -0.3654383954976726,
+              0.8043470270565043
+            ],
+            "closest_button": [
+              0.17334765195846558,
+              -0.36439043283462524,
+              0.7693479657173157
+            ],
+            "closest_ee_minus_button": [
+              0.0010183486217039406,
+              -0.0010479626630473526,
+              0.03499906133918862
+            ],
+            "button_min_z_position": [
+              0.17334765195846558,
+              -0.36439043283462524,
+              0.7693479657173157
+            ],
+            "min_active_finger_to_button": 0.14489180177188232,
+            "closest_active_finger": [
+              0.033588409423828125,
+              -0.3492385745048523,
+              0.8075018525123596
+            ],
+            "closest_active_finger_button": [
+              0.17345398664474487,
+              -0.36439213156700134,
+              0.7728374004364014
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13986557722091675,
+              0.015153557062149048,
+              0.03466445207595825
+            ],
+            "min_contact_pad_to_button": 0.021242173668422126,
+            "closest_contact_pad": [
+              0.17334765195846558,
+              -0.3666339351141861,
+              0.7904713328655951
+            ],
+            "closest_contact_pad_button": [
+              0.17334765195846558,
+              -0.36439043283462524,
+              0.7693479657173157
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022435022795608828,
+              0.02112336714827945
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0667815a1f055139715846ac0db27e1163e32adbf09d6a8eb4308825512aafc9",
+    "visual_seed": 3041319805043158031,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f952cbcf059ac2dd0123e4bed82ac54e760e9e40
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_10_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24930259518879785,
+              0.21541418018580835,
+              1.0030632335967367
+            ],
+            "current_z": 1.0030632335967367,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14195654676803637,
+            "gripper_z": 1.0057597821438478,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24396877147116616,
+              0.21048175668822802,
+              1.0057597821438478
+            ],
+            "object_minus_gripper": [
+              0.005333823717631692,
+              0.004932423497580329,
+              -0.0026965485471110995
+            ],
+            "object_to_gripper_xy": 0.0072648796968878245,
+            "object_to_gripper_z": -0.0026965485471110995,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24930259518879785,
+              0.19072416271744938,
+              1.0030632335967367
+            ],
+            "finger_b": [
+              0.23745412164533788,
+              0.21541418018580835,
+              1.0030632335967367
+            ],
+            "finger_midpoint": [
+              0.24337835841706787,
+              0.20306917145162887,
+              1.0030632335967367
+            ],
+            "object_minus_finger_midpoint": [
+              0.005924236771729985,
+              0.012345008734179486,
+              0.0
+            ],
+            "finger_gap": 0.02738582275371587,
+            "fingertip_max_gap": 0.09017368272442969,
+            "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": 1.0030632335967367,
+            "object_top_z": 1.053003575014488,
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+            "fingertip_min_top_clearance": 0.014982102425325366,
+            "object_projection_between_fingers": 0.8128140618925703,
+            "object_to_finger_line_xy": 0.010682133649671787,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047586841362214846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21482974800802118,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19308380415322038,
+              -0.0902857264090627,
+              0.7565864423039976
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+            "gripper_position": [
+              0.1980821872393517,
+              -0.10498415531536591,
+              1.0182611836566982
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+            "target_minus_gripper": [
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+              0.014698428906303213,
+              -0.2616747413527005
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+            "held_position": [
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+              -0.10014589773033358,
+              1.0155168915689798
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+            "held_minus_target": [
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+              0.2589304492649822
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+            "held_minus_gripper": [
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+              0.004838257585032327,
+              -0.002744292087718314
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+            "xy_dist": 0.015525065081646952,
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+            "held_gripper_dist": 0.007724663449419008,
+            "max_held_gripper_dist": 0.00787896189862171,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864423039976,
+            "held_z": 1.0155168915689798,
+            "required_height": 0.7865864423039977,
+            "gripper_z": 1.0182611836566982,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.31302407877673,
+            "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": 0.1456093698058954,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.9493074665171024,
+            "max_source_tilt_deg": 89.70602240740295,
+            "source_upright_tilt_deg": 2.8172256790097348,
+            "max_source_upright_tilt_deg": 89.56961696744088,
+            "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": 2.9493074665171024,
+            "source_upright_return_tilt_deg": 2.8172256790097348,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.3019305459861165e-07,
+            "max_target_xy_drift": 1.9460743120565782e-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": 0.0395646803086372,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 8.563311366919229e-05,
+            "max_target_tilt_deg": 0.00019570421435213687,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1931,
+                -0.0903,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.1931,
+                -0.0903,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                -0.0
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+            "stable_success_frames": 329,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3205101264782054,
+              -0.3090437615996019,
+              0.8470190490374545
+            ],
+            "target_position": [
+              0.3145378789082688,
+              -0.3087433364631988,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005979799018294587,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18462132591926558,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470190490374545,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513668105506584,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0872627816792818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15363138579306335,
+            "release_required_pad_clearance": 0.0536313908396409,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.272510768138518,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007341325283050537,
+            "max_z_decrease": 0.007341325283050537,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503729980801461,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007341325283050537,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021171746943180136,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007341325283050537,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007341517266132852,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17023780941963196,
+              -0.3650048077106476,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17023780941963196,
+              -0.3650048077106476,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1715252664206228,
+              -0.3634937944523863,
+              0.80534308382287
+            ],
+            "closest_button": [
+              0.17021113634109497,
+              -0.36500838398933405,
+              0.7703632116317749
+            ],
+            "closest_ee_minus_button": [
+              0.0013141300795278255,
+              0.0015145895369477747,
+              0.03497987219109511
+            ],
+            "button_min_z_position": [
+              0.17018552124500275,
+              -0.3650140166282654,
+              0.7694675326347351
+            ],
+            "min_active_finger_to_button": 0.1442167898291374,
+            "closest_active_finger": [
+              0.04373237490653992,
+              -0.4249078631401062,
+              0.8092759847640991
+            ],
+            "closest_active_finger_button": [
+              0.17025038599967957,
+              -0.3650166094303131,
+              0.7745670080184937
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12651801109313965,
+              -0.05989125370979309,
+              0.03470897674560547
+            ],
+            "min_contact_pad_to_button": 0.021171746943180136,
+            "closest_contact_pad": [
+              0.17018552124500275,
+              -0.3650140166282654,
+              0.7906392795779152
+            ],
+            "closest_contact_pad_button": [
+              0.17018552124500275,
+              -0.3650140166282654,
+              0.7694675326347351
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021171746943180136
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "61c34eb0835e99f797fb0fe92efd8b32cc4e922bfcc633f5d5ec0ef4abf1785d",
+    "visual_seed": 6784435773194845493,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..81fff70e603249e5f0b683a6e08d5357cc7df139
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_111_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+                "dummy_base_revolute_z_joint",
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
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+                "workbench"
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+      "skill": "pour",
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+      "reason": "executed",
+      "debug": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15439288485969033,
+            "release_required_pad_clearance": 0.053617759311302624,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.244437982794052,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007399559020996094,
+            "max_z_decrease": 0.007399559020996094,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501824942982246,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007399559020996094,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021060034714515452,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007399559020996094,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007400116075265204,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1747189909219742,
+              -0.36206847429275507,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1747189909219742,
+              -0.36206847429275507,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17469838970854262,
+              -0.3607137552744575,
+              0.8047899733062921
+            ],
+            "closest_button": [
+              0.17462816834449768,
+              -0.3620861172676086,
+              0.7697986960411072
+            ],
+            "closest_ee_minus_button": [
+              7.022136404494228e-05,
+              0.0013723619931511055,
+              0.03499127726518492
+            ],
+            "button_min_z_position": [
+              0.17462997138500214,
+              -0.3620863556861877,
+              0.7694092988967896
+            ],
+            "min_active_finger_to_button": 0.14529355944958805,
+            "closest_active_finger": [
+              0.0482967272400856,
+              -0.4248226284980774,
+              0.8107187747955322
+            ],
+            "closest_active_finger_button": [
+              0.1747260689735413,
+              -0.36208048462867737,
+              0.7762330770492554
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12642934173345569,
+              -0.06274214386940002,
+              0.034485697746276855
+            ],
+            "min_contact_pad_to_button": 0.021060034714515452,
+            "closest_contact_pad": [
+              0.17462997138500214,
+              -0.3620863556861877,
+              0.790469333611305
+            ],
+            "closest_contact_pad_button": [
+              0.17462997138500214,
+              -0.3620863556861877,
+              0.7694092988967896
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021060034714515452
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b887b8f52100c39b62dbe4ac708dac25b0ea1f43cc2f74a4587e16c9311f894",
+    "visual_seed": 3945215162609473426,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e05714789154169938d42819f1275162f711bc73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_112_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              0.2137215344439672,
+              1.0029614792411894
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+            "current_z": 1.0029614792411894,
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+            "lift_margin": 0.141854852017134,
+            "gripper_z": 1.0052727667326218,
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+            "gripper_position": [
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+              0.20874661718622456,
+              1.0052727667326218
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+              0.0053484894971964625,
+              0.004974917257742628,
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+            "object_to_gripper_xy": 0.0073045288433277,
+            "object_to_gripper_z": -0.00231128749143239,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24576287438477598,
+              0.189085037152979,
+              1.0029614792411894
+            ],
+            "finger_b": [
+              0.23374494817889432,
+              0.2137215344439672,
+              1.0029614792411894
+            ],
+            "finger_midpoint": [
+              0.23975391128183515,
+              0.2014032857984731,
+              1.0029614792411894
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+              0.006008963102940829,
+              0.012318248645494079,
+              0.0
+            ],
+            "finger_gap": 0.027411449233101216,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010801311667132227,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780912849274589,
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+            "object_upright_reference_source": "scene_initial",
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+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
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+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6702e4022fa1e0044139f111cbae30dad4dffdb879fbc92b2a96164d82d58746",
+    "visual_seed": 2840160477041722128,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af14c6696193c1cfc86a97b1c3583b88115648f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_113_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24548127237486475,
+              0.21617664134909295,
+              1.0016936235259317
+            ],
+            "current_z": 1.0016936235259317,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.14058681748794188,
+            "gripper_z": 1.0039736613842967,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21125978680481688,
+              1.0039736613842967
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+              0.004916854544276067,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.24548127237486475,
+              0.1917710532329192,
+              1.0016936235259317
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+            "finger_b": [
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+              0.21617664134909295,
+              1.0016936235259317
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+              0.23947235697778768,
+              0.2039738472910061,
+              1.0016936235259317
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+              0.012202794058086858,
+              0.0
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+            "finger_gap": 0.027204061981499023,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.0884210899944657,
+              0.7565862753001182
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+              -0.10233773751143817,
+              1.01769367314313
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+            "held_minus_target": [
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+              0.004692954847008254,
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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": 89.99075959269302,
+            "source_upright_tilt_deg": 2.835869777722675,
+            "max_source_upright_tilt_deg": 89.95731515078558,
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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": 9.055695443124602e-08,
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+            "target_max_xy_drift": 0.1,
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+            "target_upright_axis_local": [
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+            "target_tilt_deg": 0.00012418811968574912,
+            "max_target_tilt_deg": 0.0005722850546265385,
+            "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_b",
+              "raw_target_position": [
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31944880705198686,
+              -0.30581953047157373,
+              0.8470203062664354
+            ],
+            "target_position": [
+              0.3128781658220355,
+              -0.30587732569585996,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006570895407833492,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842499198621678,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470203062664354,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573808484563478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0879564924941063,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15181896852543386,
+            "release_required_pad_clearance": 0.05397824624705315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9613583981366483,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007401406764984131,
+            "max_z_decrease": 0.007401406764984131,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509621337770533,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007401406764984131,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021031138192558307,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007401406764984131,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007402018449925155,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16857808828353876,
+              -0.36213877797126753,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16857808828353876,
+              -0.36213877797126753,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1687793387276514,
+              -0.3600508562870072,
+              0.8052412618434779
+            ],
+            "closest_button": [
+              0.16848547756671903,
+              -0.36215332150459273,
+              0.7702093124389648
+            ],
+            "closest_ee_minus_button": [
+              0.0002938611609323849,
+              0.002102465217585503,
+              0.03503194940451304
+            ],
+            "button_min_z_position": [
+              0.16848427057266233,
+              -0.3621546924114226,
+              0.7694074511528015
+            ],
+            "min_active_finger_to_button": 0.14477431089509957,
+            "closest_active_finger": [
+              0.04218655824661255,
+              -0.42384159564971924,
+              0.8109794855117798
+            ],
+            "closest_active_finger_button": [
+              0.16858223080635068,
+              -0.3621465563774108,
+              0.7766653895378113
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12639567255973813,
+              -0.06169503927230846,
+              0.034314095973968506
+            ],
+            "min_contact_pad_to_button": 0.021031138192558307,
+            "closest_contact_pad": [
+              0.16848427057266233,
+              -0.3621546924114226,
+              0.7904385893453598
+            ],
+            "closest_contact_pad_button": [
+              0.16848427057266233,
+              -0.3621546924114226,
+              0.7694074511528015
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021031138192558307
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad055449b4ef68fa2a4a6f3d550b9f1984291602a0e2c6ff0fbbffd125cbbc53",
+    "visual_seed": 1861678454448007765,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1822e81da33d40bf2be2617c89e7efac13b8757b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_114_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
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+              0.2177183397941615,
+              1.0024649484899832
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+            "current_z": 1.0024649484899832,
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+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14135844047521717,
+            "gripper_z": 1.0048579517620027,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24095720351404598,
+              0.21276900510164265,
+              1.0048579517620027
+            ],
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+              0.005040772392101878,
+              0.0049493346925188475,
+              -0.0023930032720194117
+            ],
+            "object_to_gripper_xy": 0.007064368351632516,
+            "object_to_gripper_z": -0.0023930032720194117,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24599797590614786,
+              0.1934581086845404,
+              1.0024649484899832
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+            "finger_b": [
+              0.23383706973891072,
+              0.2177183397941615,
+              1.0024649484899832
+            ],
+            "finger_midpoint": [
+              0.2399175228225293,
+              0.20558822423935094,
+              1.0024649484899832
+            ],
+            "object_minus_finger_midpoint": [
+              0.00608045308361857,
+              0.012130115554810555,
+              0.0
+            ],
+            "finger_gap": 0.027137546910149676,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0024649484899832,
+            "object_top_z": 1.0525714126755006,
+            "finger_top_clearance": 0.05010646418551734,
+            "fingertip_min_top_clearance": 0.015031939255655219,
+            "object_projection_between_fingers": 0.7991875195455661,
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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007278859615325928,
+            "max_z_decrease": 0.007278859615325928,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035095080862943294,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007278859615325928,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02101885766311795,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007278859615325928,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072793070423152135,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1703025847673416,
+              -0.36827647686004633,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1703025847673416,
+              -0.36827647686004633,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16934501252960638,
+              -0.36624988371428296,
+              0.8048861256414583
+            ],
+            "closest_button": [
+              0.1702058911323547,
+              -0.368293285369873,
+              0.7698611617088318
+            ],
+            "closest_ee_minus_button": [
+              -0.0008608786027483328,
+              0.002043401655590027,
+              0.03502496393262655
+            ],
+            "button_min_z_position": [
+              0.17022369801998138,
+              -0.3682935237884521,
+              0.7695299983024597
+            ],
+            "min_active_finger_to_button": 0.14576421675847395,
+            "closest_active_finger": [
+              0.04283474385738373,
+              -0.4300995469093323,
+              0.8107011318206787
+            ],
+            "closest_active_finger_button": [
+              0.1703066527843475,
+              -0.3682862222194671,
+              0.7763903141021729
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12747190892696378,
+              -0.06181332468986517,
+              0.03431081771850586
+            ],
+            "min_contact_pad_to_button": 0.02101885766311795,
+            "closest_contact_pad": [
+              0.17022369801998138,
+              -0.3682935237884521,
+              0.7905488559655777
+            ],
+            "closest_contact_pad_button": [
+              0.17022369801998138,
+              -0.3682935237884521,
+              0.7695299983024597
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02101885766311795
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "edea91dc25362cccd853ae81346ec18c95ce87dacf3bc43c839cc09329cd7b1e",
+    "visual_seed": 4354426514399915192,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f613bb48f73d5c682d4926b2184d58cb531fca31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_11_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24230809559856936,
+              0.21574270804835263,
+              1.0003661143271867
+            ],
+            "current_z": 1.0003661143271867,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.13925948710313107,
+            "gripper_z": 1.0025176556262483,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23717012006949087,
+              0.21084095032407227,
+              1.0025176556262483
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+              0.005137975529078492,
+              0.0049017577242803645,
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+            "object_to_gripper_z": -0.002151541299061588,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24230809559856936,
+              0.19131853339388283,
+              1.0003661143271867
+            ],
+            "finger_b": [
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+              0.21574270804835263,
+              1.0003661143271867
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+            "finger_midpoint": [
+              0.2363238510524665,
+              0.20353062072111772,
+              1.0003661143271867
+            ],
+            "object_minus_finger_midpoint": [
+              0.005984244546102857,
+              0.012212087327234916,
+              0.0
+            ],
+            "finger_gap": 0.027198989663263076,
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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": 0.010747475239235735,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797892900133674,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1935000584797638,
+              -0.09201373985605936,
+              0.756586328525886
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+            "gripper_position": [
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+              -0.10396972315100964,
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+              0.004657392827711659,
+              -0.0022015048528725156
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+            "xy_dist": 0.013009705526417314,
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+            "max_held_gripper_dist": 0.007521496584895451,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586328525886,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.55767462465742,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.48627756939871514,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.870415683829366,
+            "max_source_tilt_deg": 89.74361275532264,
+            "source_upright_tilt_deg": 3.0122086806600037,
+            "max_source_upright_tilt_deg": 89.99584932910246,
+            "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": 2.870415683829366,
+            "source_upright_return_tilt_deg": 3.0122086806600037,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.3274608082994333e-07,
+            "max_target_xy_drift": 6.595661183217257e-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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+                "gripper",
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+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "271a6fbf81abba6475a95d13caf23bd9911408774f55bd3e99e3d32e04045add",
+    "visual_seed": 2572910646802594209,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fcfb85337d56a1fd5649c7034466f7e30f84fed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_12_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+              1.0056429387141324
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+              1.00304896489354
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+              0.19925403548549747,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "valid_pour_pose_frames": 0,
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.321933558338474,
+              -0.30495389508701115,
+              0.8470199663888436
+            ],
+            "target_position": [
+              0.3151480157208307,
+              -0.30494151624644356,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006785553908970684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18701750403933987,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470199663888436,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519726632131216,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528685246350441,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1557590027612085,
+            "release_required_pad_clearance": 0.05264342623175221,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34491569732724225,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007269918918609619,
+            "max_z_decrease": 0.007269918918609619,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035028975444355424,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007269918918609619,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02118552153557062,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007269918918609619,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007270027722285552,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17084793746471405,
+              -0.36120298504829407,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17084793746471405,
+              -0.36120298504829407,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17236219498301864,
+              -0.3613928198522565,
+              0.8055630338850919
+            ],
+            "closest_button": [
+              0.17077456414699554,
+              -0.36121314764022827,
+              0.7705705165863037
+            ],
+            "closest_ee_minus_button": [
+              0.0015876308360230906,
+              -0.0001796722120282479,
+              0.03499251729878816
+            ],
+            "button_min_z_position": [
+              0.17080825567245483,
+              -0.36120569705963135,
+              0.769538938999176
+            ],
+            "min_active_finger_to_button": 0.14450737139927547,
+            "closest_active_finger": [
+              0.03155142068862915,
+              -0.34464552998542786,
+              0.8098880052566528
+            ],
+            "closest_active_finger_button": [
+              0.17085187137126923,
+              -0.361208438873291,
+              0.775197446346283
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13930045068264008,
+              0.01656290888786316,
+              0.03469055891036987
+            ],
+            "min_contact_pad_to_button": 0.02118552153557062,
+            "closest_contact_pad": [
+              0.17075477540493011,
+              -0.3626777312854887,
+              0.7907620552593055
+            ],
+            "closest_contact_pad_button": [
+              0.17075477540493011,
+              -0.3612183928489685,
+              0.7696268558502197
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014593384365201856,
+              0.021135199409085814
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5637590174db85a0eec521dc575d11fc243f76f585310373c10156e4e2d9e0c0",
+    "visual_seed": 3795074037114032979,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ef44fb85c17bb9c13fbc1474351bb1ef729b15
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_14_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24617421985383373,
+              0.2179680275658595,
+              1.0031614610969197
+            ],
+            "current_z": 1.0031614610969197,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.14205459545428523,
+            "gripper_z": 1.0053342555347125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24091150538250608,
+              0.21299327893709497,
+              1.0053342555347125
+            ],
+            "object_minus_gripper": [
+              0.005262714471327645,
+              0.0049747486287645415,
+              -0.0021727944377927244
+            ],
+            "object_to_gripper_xy": 0.007241842826664778,
+            "object_to_gripper_z": -0.0021727944377927244,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24617421985383373,
+              0.19344717105416187,
+              1.0031614610969197
+            ],
+            "finger_b": [
+              0.23408123471804138,
+              0.2179680275658595,
+              1.0031614610969197
+            ],
+            "finger_midpoint": [
+              0.24012772728593756,
+              0.2057075993100107,
+              1.0031614610969197
+            ],
+            "object_minus_finger_midpoint": [
+              0.006046492567896161,
+              0.012260428255848804,
+              0.0
+            ],
+            "finger_gap": 0.02734067836689059,
+            "fingertip_max_gap": 0.0908342763994259,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013670339183445276,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0031614610969197,
+            "object_top_z": 1.0532847177161648,
+            "finger_top_clearance": 0.050123256619245105,
+            "fingertip_min_top_clearance": 0.015036976985773547,
+            "object_projection_between_fingers": 0.8043641388914924,
+            "object_to_finger_line_xy": 0.010845756982824285,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791713819971295,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22605118722257236,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+              -0.4294722378253937,
+              0.8108190298080444
+            ],
+            "closest_active_finger_button": [
+              0.16958871483802793,
+              -0.36729910969734186,
+              0.7763042449951172
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12643292546272275,
+              -0.06217312812805181,
+              0.034514784812927246
+            ],
+            "min_contact_pad_to_button": 0.021102227129060184,
+            "closest_contact_pad": [
+              0.16950339078903198,
+              -0.36837270517381954,
+              0.790510726889832
+            ],
+            "closest_contact_pad_button": [
+              0.16950339078903198,
+              -0.3673027157783507,
+              0.7694356441497803
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010699893954688178,
+              0.021075082740051765
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62e91e5b473a032c612ceb5092b2339a2ae9a1209fe5c789aff43e16b888f193",
+    "visual_seed": 860019779605629148,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a450197c719d43415d1466cab5a23ce942489712
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_15_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2502974966508962,
+              0.20957968291404186,
+              1.000274395605894
+            ],
+            "current_z": 1.000274395605894,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.13916800680041752,
+            "gripper_z": 1.0028339766739494,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24507158303886725,
+              0.2047664731149092,
+              1.0028339766739494
+            ],
+            "object_minus_gripper": [
+              0.005225913612028926,
+              0.004813209799132662,
+              -0.0025595810680554276
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+            "object_to_gripper_xy": 0.007104728119418497,
+            "object_to_gripper_z": -0.0025595810680554276,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2502974966508962,
+              0.18484856130162225,
+              1.000274395605894
+            ],
+            "finger_b": [
+              0.23879893237688987,
+              0.20957968291404186,
+              1.000274395605894
+            ],
+            "finger_midpoint": [
+              0.24454821451389303,
+              0.19721412210783207,
+              1.000274395605894
+            ],
+            "object_minus_finger_midpoint": [
+              0.005749282137003153,
+              0.012365560806209791,
+              0.0
+            ],
+            "finger_gap": 0.027273528495076367,
+            "fingertip_max_gap": 0.09067828414778356,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01363676424753817,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.000274395605894,
+            "object_top_z": 1.0504164956908155,
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+            "object_projection_between_fingers": 0.8222520592548699,
+            "object_to_finger_line_xy": 0.010426681369079557,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783914207389178,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1880298133761231,
+              -0.09258175093836368,
+              0.7565864377787888
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+            "gripper_position": [
+              0.19381181746285694,
+              -0.10361466198849051,
+              1.0179578472500934
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+              0.011032911050126826,
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+            "held_position": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0047409611230429805,
+              -0.0026175365198812806
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+            "xy_dist": 0.012456191131281566,
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+            "max_held_gripper_dist": 0.007681163235048594,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7565864377787888,
+            "held_z": 1.0153403107302121,
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+            "gripper_z": 1.0179578472500934,
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+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.3797003854544,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.7853800557250694,
+            "max_source_tilt_deg": 89.64017590506285,
+            "source_upright_tilt_deg": 2.608635822176661,
+            "max_source_upright_tilt_deg": 89.81129836084936,
+            "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": 2.7853800557250694,
+            "source_upright_return_tilt_deg": 2.608635822176661,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0271957477747534e-07,
+            "max_target_xy_drift": 3.5886750161183866e-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": 0.0395646774345332,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0002560879784381451,
+            "max_target_tilt_deg": 0.0005605471014302277,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.188,
+                -0.0926,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0926,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0013,
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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": [
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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",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.608633427550919,
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+                "elbow_joint",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "groundplane",
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+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3286618730392251,
+              -0.3020307479140452,
+              0.8470189218353044
+            ],
+            "target_position": [
+              0.32154684050377247,
+              -0.30249494170840135,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007130158754142048,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18571785564802587,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189218353044,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558753893697635,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08867962321138444,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1535365384083013,
+            "release_required_pad_clearance": 0.05433981160569222,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7004632614417634,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007292211055755615,
+            "max_z_decrease": 0.007292211055755615,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035048343764110174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007292211055755615,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021100703299194445,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007292211055755615,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007292497076746706,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1772467643022537,
+              -0.35875639319419855,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1772467643022537,
+              -0.35875639319419855,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17714026671072242,
+              -0.3567229767285297,
+              0.8050974246138418
+            ],
+            "closest_button": [
+              0.17718763649463654,
+              -0.35876584053039545,
+              0.770108699798584
+            ],
+            "closest_ee_minus_button": [
+              -4.736978391411961e-05,
+              0.0020428638018657463,
+              0.03498872481525783
+            ],
+            "button_min_z_position": [
+              0.17718368768692017,
+              -0.3587702810764312,
+              0.76951664686203
+            ],
+            "min_active_finger_to_button": 0.14510037342129356,
+            "closest_active_finger": [
+              0.05097954720258713,
+              -0.42134323716163635,
+              0.8108925819396973
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+            "closest_active_finger_button": [
+              0.17725488543510434,
+              -0.35876706242561335,
+              0.7763544917106628
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12627533823251721,
+              -0.062576174736023,
+              0.034538090229034424
+            ],
+            "min_contact_pad_to_button": 0.021100703299194445,
+            "closest_contact_pad": [
+              0.17718368768692017,
+              -0.3587702810764312,
+              0.7906173501612245
+            ],
+            "closest_contact_pad_button": [
+              0.17718368768692017,
+              -0.3587702810764312,
+              0.76951664686203
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021100703299194445
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f61b8e225d905ce63f2aed84815146d96297a130db96589ed52ce406be81dad",
+    "visual_seed": 2296062876867119361,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23a6b10d7b8c8d709b091ed8b9fba49f2f9b3000
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_16_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24344284746167852,
+              0.214242657761675,
+              1.000498838643804
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+            "current_z": 1.000498838643804,
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+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1393920922104589,
+            "gripper_z": 1.0025610569902366,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2380423363147962,
+              0.20933881996588788,
+              1.0025610569902366
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+              0.005400511146882309,
+              0.004903837795787125,
+              -0.0020622183464324984
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+            "object_to_gripper_xy": 0.007294734112700091,
+            "object_to_gripper_z": -0.0020622183464324984,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073226094245910645,
+            "max_z_decrease": 0.0073226094245910645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503120331044946,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073226094245910645,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021196860316833665,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0073226094245910645,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007322688315306433,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17134012281894687,
+              -0.3646023571491241,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17134012281894687,
+              -0.3646023571491241,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1728719792181715,
+              -0.36378531568517947,
+              0.8045848284349923
+            ],
+            "closest_button": [
+              0.17128083109855652,
+              -0.3645972311496734,
+              0.769599199295044
+            ],
+            "closest_ee_minus_button": [
+              0.0015911481196149713,
+              0.0008119154644939397,
+              0.034985629139948404
+            ],
+            "button_min_z_position": [
+              0.17130632698535922,
+              -0.3645987212657928,
+              0.7694862484931946
+            ],
+            "min_active_finger_to_button": 0.1442156604104436,
+            "closest_active_finger": [
+              0.04526906460523605,
+              -0.4253794848918915,
+              0.8078004121780396
+            ],
+            "closest_active_finger_button": [
+              0.17135912179946902,
+              -0.3646161854267119,
+              0.7730545401573181
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12609005719423297,
+              -0.060763299465179554,
+              0.034745872020721436
+            ],
+            "min_contact_pad_to_button": 0.021196860316833665,
+            "closest_contact_pad": [
+              0.17128083109855652,
+              -0.3651108491462224,
+              0.7907898359972523
+            ],
+            "closest_contact_pad_button": [
+              0.17128083109855652,
+              -0.3645972311496734,
+              0.769599199295044
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005136179965489762,
+              0.021190636702208332
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12b8e2b33d7ca3381c45c55cbc513bfcc30d83835dde8dc0392125f9d8386292",
+    "visual_seed": 6781532532403288447,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e94d92ac421184a9bd50761143c8acca1adc081b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_17_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24971320035973057,
+              0.21625562985569502,
+              1.001043781158212
+            ],
+            "current_z": 1.001043781158212,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.13993733274809061,
+            "gripper_z": 1.0031528656554718,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24429487351161164,
+              0.21130601212843178,
+              1.0031528656554718
+            ],
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+              0.005418326848118937,
+              0.004949617727263239,
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+            "object_to_gripper_xy": 0.007338731598790421,
+            "object_to_gripper_z": -0.002109084497259772,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24971320035973057,
+              0.19149470947140662,
+              1.001043781158212
+            ],
+            "finger_b": [
+              0.23783999756432855,
+              0.21625562985569502,
+              1.001043781158212
+            ],
+            "finger_midpoint": [
+              0.24377659896202958,
+              0.20387516966355082,
+              1.001043781158212
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+            "object_minus_finger_midpoint": [
+              0.005936601397700997,
+              0.0123804601921442,
+              0.0
+            ],
+            "finger_gap": 0.027460446516723122,
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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": 0.010705995947459277,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047786276382374884,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.17681943409388792,
+            "object_max_tilt_deg": 15.0,
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1879534897387645,
+              -0.09001763016244664,
+              0.7565863174155608
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+            "gripper_position": [
+              0.19266831944254761,
+              -0.10229991661863377,
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+              0.012282286456187133,
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+            "held_minus_gripper": [
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+              0.004767311770146235,
+              -0.0021495395161164055
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+            "xy_dist": 0.013156146081870386,
+            "held_xy_dist": 0.012713366104039682,
+            "held_gripper_dist": 0.007618120675268449,
+            "max_held_gripper_dist": 0.007727732197245263,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863174155608,
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+            "required_height": 0.7865863174155608,
+            "gripper_z": 1.0177119048471526,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.53954730260021,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "456f5f30bc27a845c9c32bc9dc9fb9df15f3e519b78d11d92866e78e46a5b978",
+    "visual_seed": 6553402988316280783,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d3e96306c16b0f3994cb9657f06583f38b4ee0e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_18_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.2128927189913621,
+              1.000278808924654
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+            "gripper_position": [
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+              0.20797202432669548,
+              1.0025256311197783
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+              0.0049206946646666305,
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+              0.1879568368944075,
+              1.000278808924654
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+            "finger_b": [
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+              0.2128927189913621,
+              1.000278808924654
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+            "finger_midpoint": [
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+              0.20042477794288482,
+              1.000278808924654
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+              0.012467941048477288,
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+            "stable_success_frames": 158,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.09973184386832505,
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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": [
+              "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_tilt_strategy": "wrist_velocity",
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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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+              "tilt_axis": [
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+                0.0,
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+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.695692842901537,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
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+        "attach_object": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32347985118352374,
+              -0.31194815895372996,
+              0.8470183324157858
+            ],
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+              0.3173511810189026,
+              -0.3116050192819184,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18458093078292417,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470183324157858,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.609892032023173,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007462680339813232,
+            "max_z_decrease": 0.007462680339813232,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03497931018773756,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007462680339813232,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021197346088696684,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007462680339813232,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007463041930024781,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17305110394954681,
+              -0.36786648631095875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17305110394954681,
+              -0.36786648631095875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17272518971989106,
+              -0.3679923975241808,
+              0.8052337723773365
+            ],
+            "closest_button": [
+              0.17295950651168823,
+              -0.36785778403282154,
+              0.7702555060386658
+            ],
+            "closest_ee_minus_button": [
+              -0.0002343167917971678,
+              -0.00013461349135923673,
+              0.03497826633867074
+            ],
+            "button_min_z_position": [
+              0.17297840118408203,
+              -0.367877036333084,
+              0.7693461775779724
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+            "min_active_finger_to_button": 0.14628392764986645,
+            "closest_active_finger": [
+              0.03202175348997116,
+              -0.3506165146827698,
+              0.8081216216087341
+            ],
+            "closest_active_finger_button": [
+              0.1730661690235138,
+              -0.36788070201873774,
+              0.7733738422393799
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14104441553354263,
+              0.017264187335967962,
+              0.03474777936935425
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+            "min_contact_pad_to_button": 0.021197346088696684,
+            "closest_contact_pad": [
+              0.17297840118408203,
+              -0.3693288845520268,
+              0.7904937452384183
+            ],
+            "closest_contact_pad_button": [
+              0.17297840118408203,
+              -0.367877036333084,
+              0.7693461775779724
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014518482189427862,
+              0.0211475676604459
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b4966331e98ca1c16c4ea223ef94d090935f65dcdd59689e993b554e6c5c590",
+    "visual_seed": 6672321980017963224,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb79b442eac2a98974a05c10394792e22e5a9d6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_19_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.002500966609861
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+            "lift_margin": 0.14139416057187126,
+            "gripper_z": 1.0045574558499404,
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+              0.24037347115756363,
+              0.21549776472285748,
+              1.0045574558499404
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+              0.004910708292110044,
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+            "object_to_gripper_z": -0.0020564892400793955,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24569261156247305,
+              0.19573353919234693,
+              1.002500966609861
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+            "finger_b": [
+              0.2338794249536963,
+              0.22040847301496752,
+              1.002500966609861
+            ],
+            "finger_midpoint": [
+              0.23978601825808465,
+              0.20807100610365722,
+              1.002500966609861
+            ],
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+              0.005906593304388391,
+              0.012337466911310296,
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+            ],
+            "finger_gap": 0.027356968710083508,
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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": 0.8135346325068583,
+            "object_to_finger_line_xy": 0.01065504007022511,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3121987770199288,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
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+                "panda_leftfinger",
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+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072147937124224905,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1773643046617508,
+              -0.35906556248664845,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1773643046617508,
+              -0.35906556248664845,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17574075610382173,
+              -0.3571351133962176,
+              0.8049873574533052
+            ],
+            "closest_button": [
+              0.17728315293788907,
+              -0.3590780198574065,
+              0.7699928283691406
+            ],
+            "closest_ee_minus_button": [
+              -0.0015423968340673444,
+              0.0019429064611888869,
+              0.03499452908416456
+            ],
+            "button_min_z_position": [
+              0.17729929089546204,
+              -0.35907986760139454,
+              0.7695943713188171
+            ],
+            "min_active_finger_to_button": 0.14642547287109967,
+            "closest_active_finger": [
+              0.04964879900217056,
+              -0.4218442738056183,
+              0.810291588306427
+            ],
+            "closest_active_finger_button": [
+              0.1773703247308731,
+              -0.3590751886367797,
+              0.7758289575576782
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12772152572870255,
+              -0.06276908516883861,
+              0.03446263074874878
+            ],
+            "min_contact_pad_to_button": 0.021069417935256296,
+            "closest_contact_pad": [
+              0.17728315293788907,
+              -0.3590780198574065,
+              0.7910622463043969
+            ],
+            "closest_contact_pad_button": [
+              0.17728315293788907,
+              -0.3590780198574065,
+              0.7699928283691406
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021069417935256296
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "680d67449dfcfd0e5e6a8ee5a16125cda8d02f37b6dc5b2d7c8627b654baa527",
+    "visual_seed": 653351011867402177,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f35c0ff8e742c20c0607882c7ecfbd2a79e8896
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_1_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24458430762555453,
+              0.21139824769688537,
+              1.003627863285757
+            ],
+            "current_z": 1.003627863285757,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1425212956663462,
+            "gripper_z": 1.0057801831643371,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23936141249973084,
+              0.20652538260445097,
+              1.0057801831643371
+            ],
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+              0.00522289512582369,
+              0.0048728650924343975,
+              -0.0021523198785802222
+            ],
+            "object_to_gripper_xy": 0.007143069907569052,
+            "object_to_gripper_z": -0.0021523198785802222,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24458430762555453,
+              0.18680160923806582,
+              1.003627863285757
+            ],
+            "finger_b": [
+              0.2327977458613726,
+              0.21139824769688537,
+              1.003627863285757
+            ],
+            "finger_midpoint": [
+              0.23869102674346357,
+              0.1990999284674756,
+              1.003627863285757
+            ],
+            "object_minus_finger_midpoint": [
+              0.005893280882090957,
+              0.012298319229409771,
+              0.0
+            ],
+            "finger_gap": 0.027274854017845,
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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": 1.053658025873338,
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+            "object_projection_between_fingers": 0.8132548192169714,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790417370422363,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.20748465974872699,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1935902536420305,
+              -0.09222369494596498,
+              0.75658652336675
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+            "gripper_position": [
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+              -0.10432448275545592,
+              1.017436810113458
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+              -0.09964820658439799,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004676276171057925,
+              -0.0021992409633520005
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+            "max_held_gripper_dist": 0.007558231157545674,
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+            "xy_threshold": 0.15,
+            "target_z": 0.75658652336675,
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+            "required_height": 0.7865865233667501,
+            "gripper_z": 1.017436810113458,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.48370367594619,
+            "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
+            ],
+            "source_start_tilt_deg": 0.11103621647471257,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8656745769186385,
+            "max_source_tilt_deg": 89.59058668826438,
+            "source_upright_tilt_deg": 2.78556774213625,
+            "max_source_upright_tilt_deg": 89.69084557163822,
+            "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": 2.8656745769186385,
+            "source_upright_return_tilt_deg": 2.78556774213625,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.402515227900937e-07,
+            "max_target_xy_drift": 3.1935515960032225e-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": 0.03956461282240949,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 7.253559602668369e-05,
+            "max_target_tilt_deg": 0.000218217262066535,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1936,
+                -0.0922,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0922,
+                0.7566
+              ],
+              "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": [
+                0.0015,
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+              "controller_last_pour_pose_position": [
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+                1.0223
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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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+              "height_range_2": [
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+                0.2
+              ],
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3192916141387885,
+              -0.3076282272854076,
+              0.8470197161841653
+            ],
+            "target_position": [
+              0.31302978829229056,
+              -0.3074977765905219,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062631845187305175,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18355941946045115,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470197161841653,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533180469894257,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086105198939731,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15208592218423053,
+            "release_required_pad_clearance": 0.0530525994698655,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.135035275216936,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007477104663848877,
+            "max_z_decrease": 0.007477104663848877,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035048910584680605,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007477104663848877,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02117167699274999,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007477104663848877,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007477515292455924,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16872970759868616,
+              -0.36375924944877625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16872970759868616,
+              -0.36375924944877625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16755714975983108,
+              -0.36525047154726153,
+              0.8051514866232568
+            ],
+            "closest_button": [
+              0.16864699125289911,
+              -0.36377519369125366,
+              0.7701506018638611
+            ],
+            "closest_ee_minus_button": [
+              -0.001089841493068039,
+              -0.0014752778560078728,
+              0.03500088475939567
+            ],
+            "button_min_z_position": [
+              0.1686528325080871,
+              -0.36377444863319397,
+              0.7693317532539368
+            ],
+            "min_active_finger_to_button": 0.14685782021401636,
+            "closest_active_finger": [
+              0.02667427808046341,
+              -0.34940266609191895,
+              0.8103495836257935
+            ],
+            "closest_active_finger_button": [
+              0.16872844099998469,
+              -0.36377134919166565,
+              0.7759784460067749
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14205416291952128,
+              0.014368683099746704,
+              0.034371137619018555
+            ],
+            "min_contact_pad_to_button": 0.02117167699274999,
+            "closest_contact_pad": [
+              0.1686528325080871,
+              -0.36644822406075195,
+              0.7903339158008824
+            ],
+            "closest_contact_pad_button": [
+              0.1686528325080871,
+              -0.36377444863319397,
+              0.7693317532539368
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026737754275579784,
+              0.021002162546945646
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af07253ab49b6ec586a78727c27cea9492a185fbd0bb4ec7c0e4c68c02848e19",
+    "visual_seed": 273511244977555010,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..496cce1ebf73f63c12583f452f0ffda991e7d8ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_20_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007565975189208984,
+            "max_z_decrease": 0.007565975189208984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035057743351019716,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007565975189208984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021169425807711934,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007565975189208984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007566590299698567,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17591939866542816,
+              -0.3679251372814178,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17591939866542816,
+              -0.3679251372814178,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17425015633448207,
+              -0.36958939878654484,
+              0.8054761312036128
+            ],
+            "closest_button": [
+              0.1758437603712082,
+              -0.36793833971023554,
+              0.7704935669898987
+            ],
+            "closest_ee_minus_button": [
+              -0.0015936040367261206,
+              -0.0016510590763093025,
+              0.03498256421371415
+            ],
+            "button_min_z_position": [
+              0.17582464218139648,
+              -0.36794328689575195,
+              0.7692428827285767
+            ],
+            "min_active_finger_to_button": 0.14741910417195522,
+            "closest_active_finger": [
+              0.03315529227256775,
+              -0.3551314175128937,
+              0.8104931712150574
+            ],
+            "closest_active_finger_button": [
+              0.17592372000217438,
+              -0.3679364621639251,
+              0.7760606408119202
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14276842772960663,
+              0.012805044651031439,
+              0.03443253040313721
+            ],
+            "min_contact_pad_to_button": 0.021169425807711934,
+            "closest_contact_pad": [
+              0.17582464218139648,
+              -0.3706691078471725,
+              0.7902360837510272
+            ],
+            "closest_contact_pad_button": [
+              0.17582464218139648,
+              -0.36794328689575195,
+              0.7692428827285767
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027258209514205434,
+              0.020993201022450503
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f09e987e1efacc02106d9837b6e133f3d506adcc5064bbb54e0f475509b7529",
+    "visual_seed": 1965988272192193435,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f84e20f944d2d86dd3dbc5ef29271764da66eeab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_21_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24630086611768576,
+              0.2141366701276614,
+              1.003071367361284
+            ],
+            "current_z": 1.003071367361284,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.14196468053258393,
+            "gripper_z": 1.0052514925444163,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24084854309056436,
+              0.2092070779643867,
+              1.0052514925444163
+            ],
+            "object_minus_gripper": [
+              0.005452323027121397,
+              0.00492959216327471,
+              -0.0021801251831321533
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+            "object_to_gripper_xy": 0.007350422116334386,
+            "object_to_gripper_z": -0.0021801251831321533,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24630086611768576,
+              0.18923889149668863,
+              1.003071367361284
+            ],
+            "finger_b": [
+              0.23458935121166308,
+              0.2141366701276614,
+              1.003071367361284
+            ],
+            "finger_midpoint": [
+              0.24044510866467442,
+              0.20168778081217503,
+              1.003071367361284
+            ],
+            "object_minus_finger_midpoint": [
+              0.00585575745301134,
+              0.012448889315486378,
+              0.0
+            ],
+            "finger_gap": 0.02751470447144429,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.003071367361284,
+            "object_top_z": 1.0530943171017182,
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+            "fingertip_min_top_clearance": 0.015006884922130242,
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+            "object_to_finger_line_xy": 0.01059763174509519,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781586991603751,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.15286203166513446,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1916313917449337,
+              -0.08795466906524975,
+              0.7565864632528042
+            ],
+            "gripper_position": [
+              0.19686868903185928,
+              -0.10266031392888489,
+              1.0187554007037933
+            ],
+            "target_minus_gripper": [
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4bda03fa49d346b20e791ab32ec90f32c88a081b9d87a22acdc369971f57a9e",
+    "visual_seed": 6195781841702750228,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32090934b9a7795305c1f21035e758b5c80e65f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_22_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.243495940077625,
+              0.21516843284303605,
+              1.0035500902324208
+            ],
+            "current_z": 1.0035500902324208,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.14244346300836508,
+            "gripper_z": 1.005694055022075,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2381180983376307,
+              0.21029666058164584,
+              1.005694055022075
+            ],
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+              0.00537784173999431,
+              0.0048717722613902115,
+              -0.0021439647896541736
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+            "object_to_gripper_xy": 0.0072564003987704625,
+            "object_to_gripper_z": -0.0021439647896541736,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.243495940077625,
+              0.1903122762565356,
+              1.0035500902324208
+            ],
+            "finger_b": [
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+              0.21516843284303605,
+              1.0035500902324208
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+            "finger_midpoint": [
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+              0.20274035454978584,
+              1.0035500902324208
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+              0.012428078293250211,
+              0.0
+            ],
+            "finger_gap": 0.0274143847463304,
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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": 0.8220740612681577,
+            "object_to_finger_line_xy": 0.010484642075018768,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048002694506475777,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.11712375238064332,
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18748504651603753,
+              -0.08440438024288133,
+              0.7565861441121702
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+            "gripper_position": [
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+              -0.09917217888019185,
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+              0.014767798637310522,
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+              0.25893078676698655
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+            "held_minus_gripper": [
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+              0.004847019786899151,
+              -0.0022107722988382594
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.61298549655619,
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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": 89.62442763146488,
+            "source_upright_tilt_deg": 2.9815929313606664,
+            "max_source_upright_tilt_deg": 89.98853935977498,
+            "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": 2.899035824185065,
+            "source_upright_return_tilt_deg": 2.9815929313606664,
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+            "target_xy_drift": 9.399881571358563e-07,
+            "max_target_xy_drift": 1.7866215135852597e-06,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0395636687585272,
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+            "max_target_tilt_deg": 0.0006478488210357357,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1875,
+                -0.0844,
+                0.7566
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+              "controller_target_position": [
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+                -0.0844,
+                0.7566
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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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+                1.0221
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.2
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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_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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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6303362846374512
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "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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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3238061721943396,
+              -0.310334422753908,
+              0.8470192015547301
+            ],
+            "target_position": [
+              0.31759712882717034,
+              -0.3104761936691764,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006210661681963096,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18334518460100355,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192015547301,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584641217702837,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08839189401951024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15067748467773864,
+            "release_required_pad_clearance": 0.05419594700975512,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4082044364814967,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007472336292266846,
+            "max_z_decrease": 0.007472336292266846,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035079342544558766,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007472336292266846,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02102586262810413,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007472336292266846,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00747296603055038,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17329704761505127,
+              -0.36673766374588007,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17329704761505127,
+              -0.36673766374588007,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17345779804209363,
+              -0.36489729678627214,
+              0.8051304196323532
+            ],
+            "closest_button": [
+              0.17320352792739868,
+              -0.3667610883712768,
+              0.7701015472412109
+            ],
+            "closest_ee_minus_button": [
+              0.00025427011469494887,
+              0.0018637915850046594,
+              0.035028872391142274
+            ],
+            "button_min_z_position": [
+              0.17320190370082855,
+              -0.36675661802291865,
+              0.7693365216255188
+            ],
+            "min_active_finger_to_button": 0.1448203344294188,
+            "closest_active_finger": [
+              0.0474914088845253,
+              -0.4297286868095398,
+              0.8104973435401917
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+            "closest_active_finger_button": [
+              0.17330008745193481,
+              -0.36674782633781433,
+              0.7761678099632263
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12580867856740952,
+              -0.06298086047172546,
+              0.03432953357696533
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+            "min_contact_pad_to_button": 0.02102586262810413,
+            "closest_contact_pad": [
+              0.17320190370082855,
+              -0.36675661802291865,
+              0.7903623842536229
+            ],
+            "closest_contact_pad_button": [
+              0.17320190370082855,
+              -0.36675661802291865,
+              0.7693365216255188
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02102586262810413
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "afee0c3cfa3af1099b80f5bf29d9389e5b695ee7924418ad70d825d20d498f4e",
+    "visual_seed": 4336787433521194261,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62530c2ceebf6d97ed2abcf0a699a9394c108e38
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_23_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              1.0007376565066464
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+            "lift_margin": 0.13963102928259075,
+            "gripper_z": 1.0027149003633473,
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+            "gripper_position": [
+              0.24131319961206968,
+              0.20451329027624335,
+              1.0027149003633473
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+              0.004774864637113185,
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+            "object_to_gripper_z": -0.00197724385670095,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24654253677617047,
+              0.18447002109443547,
+              1.0007376565066464
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+              0.20928815491335653,
+              1.0007376565066464
+            ],
+            "finger_midpoint": [
+              0.24086712548347217,
+              0.196879088003896,
+              1.0007376565066464
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+              0.005675411292698301,
+              0.012409066909460531,
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+            "finger_gap": 0.027290674957190456,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478866416606125,
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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,
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+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072762370109558105,
+            "max_z_decrease": 0.0072762370109558105,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509209256062797,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072762370109558105,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021072211799464946,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0072762370109558105,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007276593009633423,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17561417818069452,
+              -0.35960170626640314,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17561417818069452,
+              -0.35960170626640314,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17662169277336812,
+              -0.35756148008893474,
+              0.8056517261692968
+            ],
+            "closest_button": [
+              0.17553806304931635,
+              -0.35961949825286865,
+              0.770636796951294
+            ],
+            "closest_ee_minus_button": [
+              0.0010836297240517656,
+              0.002058018163933917,
+              0.035014929218002866
+            ],
+            "button_min_z_position": [
+              0.17554360628128046,
+              -0.35961586236953735,
+              0.7695326209068298
+            ],
+            "min_active_finger_to_button": 0.14415465747845654,
+            "closest_active_finger": [
+              0.05064352601766586,
+              -0.4226568341255188,
+              0.8108567595481873
+            ],
+            "closest_active_finger_button": [
+              0.17562009394168848,
+              -0.35960960388183594,
+              0.7764115929603577
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12497656792402262,
+              -0.06304723024368286,
+              0.03444516658782959
+            ],
+            "min_contact_pad_to_button": 0.021072211799464946,
+            "closest_contact_pad": [
+              0.17552788555622095,
+              -0.3596196174621582,
+              0.790816011962734
+            ],
+            "closest_contact_pad_button": [
+              0.17552788555622095,
+              -0.3596196174621582,
+              0.769743800163269
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021072211799464946
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1aa33ce381e926cf9ffe9544aa1e62db707b62bf5a0ad8b67ea340aaceef87c0",
+    "visual_seed": 3780470859103437628,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc7cff0a9298824861463e0b2deaa8b14488cbe8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_25_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24661114638855133,
+              0.21282967393805843,
+              1.0028997551606214
+            ],
+            "current_z": 1.0028997551606214,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14179306833192107,
+            "gripper_z": 1.0052600118445394,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24115240809533237,
+              0.20785846088139343,
+              1.0052600118445394
+            ],
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+              0.005458738293218968,
+              0.004971213056665008,
+              -0.0023602566839180383
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+            "object_to_gripper_xy": 0.007383141811492705,
+            "object_to_gripper_z": -0.0023602566839180383,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24661114638855133,
+              0.18798798025183192,
+              1.0028997551606214
+            ],
+            "finger_b": [
+              0.23476402290136858,
+              0.21282967393805843,
+              1.0028997551606214
+            ],
+            "finger_midpoint": [
+              0.24068758464495996,
+              0.20040882709494517,
+              1.0028997551606214
+            ],
+            "object_minus_finger_midpoint": [
+              0.005923561743591377,
+              0.012420846843113259,
+              0.0
+            ],
+            "finger_gap": 0.02752206533167276,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015017690450084796,
+            "object_projection_between_fingers": 0.8147049627776912,
+            "object_to_finger_line_xy": 0.010693333119618979,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047841784757699415,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2412680165777153,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19404243162081902,
+              -0.0849351648120548,
+              0.7565863811942001
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+            "gripper_position": [
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+              -0.09643475343279392,
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+              -0.09156152414907388,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.00487322928372004,
+              -0.002395179226243327
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+            "xy_dist": 0.012719873995972089,
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+            "held_gripper_dist": 0.007731204376395631,
+            "max_held_gripper_dist": 0.007859895004589846,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863811942001,
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+            "required_height": 0.7865863811942001,
+            "gripper_z": 1.0158866987615165,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.63952078148169,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 0.44393847964632577,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.7787220579124092,
+            "max_source_tilt_deg": 89.64274277086693,
+            "source_upright_tilt_deg": 2.6599726513998947,
+            "max_source_upright_tilt_deg": 89.99864299635439,
+            "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": 2.7787220579124092,
+            "source_upright_return_tilt_deg": 2.6599726513998947,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.5057800051649408e-07,
+            "max_target_xy_drift": 6.032225368814846e-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": 0.039564679940162335,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.00013426795182094181,
+            "max_target_tilt_deg": 0.00035372306863010807,
+            "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,
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+    "task_island_state_digest": "c622aaef1b6b46a84b9c96eb40fb43576fc218945f6cfd37419407aced918e90",
+    "visual_seed": 3495518137176487738,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e3071f55486dcb4d0acfc529636f6203a28fa49
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_26_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.20595731423004981,
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+              0.004774704778547745,
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+            "object_to_gripper_z": -0.0020014154863958744,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.1859687269893415,
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+              1.0025852264504285
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+            "finger_midpoint": [
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+              0.19835037299896952,
+              1.0025852264504285
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+            "stable_success_frames": 162,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+          }
+        },
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
+              "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,
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+              "skill": "pour",
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+              -0.30696751706826914,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007019487666010361,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18494534700267443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196111093438,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532744691113866,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624811090422262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536650968668656,
+            "release_required_pad_clearance": 0.05312405545211131,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2734729695104512,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076125264167785645,
+            "max_z_decrease": 0.0076125264167785645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0349926622463046,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076125264167785645,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021155887451904352,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076125264167785645,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007612551678616289,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17649698257446286,
+              -0.363228976726532,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17649698257446286,
+              -0.363228976726532,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17715164472868336,
+              -0.36294174741527363,
+              0.804304164638261
+            ],
+            "closest_button": [
+              0.17640438675880432,
+              -0.3632296621799469,
+              0.7693206667900085
+            ],
+            "closest_ee_minus_button": [
+              0.0007472579698790394,
+              0.0002879147646732694,
+              0.0349834978482525
+            ],
+            "button_min_z_position": [
+              0.17649723589420319,
+              -0.3632485866546631,
+              0.7691963315010071
+            ],
+            "min_active_finger_to_button": 0.1451881947095298,
+            "closest_active_finger": [
+              0.05047772824764252,
+              -0.426447331905365,
+              0.809069037437439
+            ],
+            "closest_active_finger_button": [
+              0.1765095591545105,
+              -0.3632428050041198,
+              0.7744168043136597
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12603183090686798,
+              -0.06320452690124517,
+              0.0346522331237793
+            ],
+            "min_contact_pad_to_button": 0.021155887451904352,
+            "closest_contact_pad": [
+              0.17640438675880432,
+              -0.36407485430437087,
+              0.7904596644992297
+            ],
+            "closest_contact_pad_button": [
+              0.17640438675880432,
+              -0.3632296621799469,
+              0.7693206667900085
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008451921244239657,
+              0.02113899770922112
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a871fec83939ab25cc3c5fc3709dea3a99139e313f7e32e30f1e6d84bbd60119",
+    "visual_seed": 1725330124070502221,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ed91e34d2b8958420c93eff259dbeabb7086e1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_28_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24244719201325887,
+              0.21250642432629432,
+              1.0019942680907037
+            ],
+            "current_z": 1.0019942680907037,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.14088752165735852,
+            "gripper_z": 1.0043706047687575,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2371547885721077,
+              0.2075199894294778,
+              1.0043706047687575
+            ],
+            "object_minus_gripper": [
+              0.005292403441151172,
+              0.004986434896816522,
+              -0.002376336678053814
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+            "object_to_gripper_xy": 0.007271455642723702,
+            "object_to_gripper_z": -0.002376336678053814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24244719201325887,
+              0.1879984827688175,
+              1.0019942680907037
+            ],
+            "finger_b": [
+              0.23037044941938736,
+              0.21250642432629432,
+              1.0019942680907037
+            ],
+            "finger_midpoint": [
+              0.23640882071632313,
+              0.20025245354755591,
+              1.0019942680907037
+            ],
+            "object_minus_finger_midpoint": [
+              0.006038371296935741,
+              0.01225397077873841,
+              0.0
+            ],
+            "finger_gap": 0.027321912653826594,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0019942680907037,
+            "object_top_z": 1.0522023681896504,
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+            "fingertip_min_top_clearance": 0.015062430029683998,
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+            "object_to_finger_line_xy": 0.010832920280705184,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048066885013377914,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23725673150777202,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
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+            "closest_active_finger_minus_button": [
+              -0.14126589894294744,
+              0.015353679656982366,
+              0.03445154428482056
+            ],
+            "min_contact_pad_to_button": 0.021097060045305805,
+            "closest_contact_pad": [
+              0.1701818555593491,
+              -0.3685279112250636,
+              0.7904242997217543
+            ],
+            "closest_contact_pad_button": [
+              0.1701818555593491,
+              -0.36679741740226746,
+              0.7693983316421509
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017304938227961641,
+              0.02102596807960344
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f6d69c318222a5b6cc27343e96bf6e79da53ab4d81847a0ac6283206f6060e01",
+    "visual_seed": 7315674083407013499,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36e1c0e9bd1b34036bef24ef97b5599b61d141bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_29_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.24928982571238403,
+              0.21685770021855144,
+              1.0034622709791172
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+            "current_z": 1.0034622709791172,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14235576296435137,
+            "gripper_z": 1.0055206677173576,
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+            "gripper_position": [
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+              0.21190465857484836,
+              1.0055206677173576
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+              0.0052948768439490534,
+              0.004953041643703082,
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+            "object_to_gripper_xy": 0.007250402907207628,
+            "object_to_gripper_z": -0.0020583967382403756,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24928982571238403,
+              0.19226727380861364,
+              1.0034622709791172
+            ],
+            "finger_b": [
+              0.23728997591546308,
+              0.21685770021855144,
+              1.0034622709791172
+            ],
+            "finger_midpoint": [
+              0.24328990081392354,
+              0.20456248701358254,
+              1.0034622709791172
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012295213204968902,
+              0.0
+            ],
+            "finger_gap": 0.027362117355410026,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0034622709791172,
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+            "object_to_finger_line_xy": 0.01078430515916008,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777958850981838,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19111710179628474,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.08921925534172948,
+              0.7565863462274565
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+            "gripper_position": [
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+              -0.10043142962735466,
+              1.015711636401846
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+              0.004839919645891963,
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+            "missing_held_position_samples": 0,
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+            "required_height": 0.7865863462274565,
+            "gripper_z": 1.015711636401846,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.56145854945761,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.51687617887377,
+            "source_upright_tilt_deg": 2.7153117690089594,
+            "max_source_upright_tilt_deg": 89.54133074070275,
+            "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": 2.7817166713158223,
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+            "target_xy_drift": 7.555792192699188e-08,
+            "max_target_xy_drift": 5.606054027450771e-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": 0.0395646656617589,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 3.651317493717519e-05,
+            "max_target_tilt_deg": 0.00037765661761734743,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1921,
+                -0.0892,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0892,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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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_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+            ],
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32038313913739325,
+              -0.30413886331891954,
+              0.847019291167083
+            ],
+            "target_position": [
+              0.3128080336725494,
+              -0.3035853707059739,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007595299656767509,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18734452379388553,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019291167083,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550186972864606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625886048531849,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15500567612560015,
+            "release_required_pad_clearance": 0.053129430242659245,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2844885722484247,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006967902183532715,
+            "max_z_decrease": 0.006967902183532715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503205627808999,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006967902183532715,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02119417670490916,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.006967902183532715,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006968317850668207,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16850796341896052,
+              -0.3598468303680419,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16850796341896052,
+              -0.3598468303680419,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17009075443116328,
+              -0.3591068174840148,
+              0.8053089867628733
+            ],
+            "closest_button": [
+              0.168422982096672,
+              -0.3598435819149016,
+              0.7703244090080261
+            ],
+            "closest_ee_minus_button": [
+              0.0016677723344912798,
+              0.0007367644308868271,
+              0.0349845777548472
+            ],
+            "button_min_z_position": [
+              0.16843189299106592,
+              -0.3598493039608001,
+              0.7698409557342529
+            ],
+            "min_active_finger_to_button": 0.1442521423478197,
+            "closest_active_finger": [
+              0.042180582880973816,
+              -0.42018550634384155,
+              0.8079560399055481
+            ],
+            "closest_active_finger_button": [
+              0.1685267090797424,
+              -0.35985958576202387,
+              0.773226797580719
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263461261987686,
+              -0.06032592058181768,
+              0.0347292423248291
+            ],
+            "min_contact_pad_to_button": 0.02119417670490916,
+            "closest_contact_pad": [
+              0.16843189299106592,
+              -0.3605034366512606,
+              0.7910250355259782
+            ],
+            "closest_contact_pad_button": [
+              0.16843189299106592,
+              -0.3598493039608001,
+              0.7698409557342529
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000654132690460496,
+              0.02118407979172532
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "22e1b279eb7998e1ea161f3192c24234ac58af4963bbdc1107ee75f29287b1b0",
+    "visual_seed": 457219847247292536,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3dce98c1452985d9dda24687d41cdb464ea9305
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_2_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2461564891208473,
+              0.21539522557425997,
+              1.0030872380256501
+            ],
+            "current_z": 1.0030872380256501,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.14198037238301564,
+            "gripper_z": 1.0051989737610025,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.240893668230812,
+              0.2104439732170842,
+              1.0051989737610025
+            ],
+            "object_minus_gripper": [
+              0.005262820890035297,
+              0.004951252357175778,
+              -0.0021117357353523936
+            ],
+            "object_to_gripper_xy": 0.007225799860571189,
+            "object_to_gripper_z": -0.0021117357353523936,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2461564891208473,
+              0.19085192122856293,
+              1.0030872380256501
+            ],
+            "finger_b": [
+              0.2341454561431765,
+              0.21539522557425997,
+              1.0030872380256501
+            ],
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00713658332824707,
+            "max_z_decrease": 0.00713658332824707,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501662216835195,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00713658332824707,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021304530579276483,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00713658332824707,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007137003151560221,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.173149824142456,
+              -0.3587855100631713,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.173149824142456,
+              -0.3587855100631713,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17334432461460023,
+              -0.3603279330391968,
+              0.8046545827232142
+            ],
+            "closest_button": [
+              0.17307415604591364,
+              -0.35880184173583973,
+              0.7696722745895386
+            ],
+            "closest_ee_minus_button": [
+              0.0002701685686865851,
+              -0.0015260913033570689,
+              0.034982308133675644
+            ],
+            "button_min_z_position": [
+              0.17307415604591364,
+              -0.35880184173583973,
+              0.7696722745895386
+            ],
+            "min_active_finger_to_button": 0.14553719759809158,
+            "closest_active_finger": [
+              0.03264971077442169,
+              -0.34362655878067017,
+              0.8078985214233398
+            ],
+            "closest_active_finger_button": [
+              0.17316593229770655,
+              -0.35880002379417414,
+              0.773170530796051
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14051622152328486,
+              0.015173465013503973,
+              0.03472799062728882
+            ],
+            "min_contact_pad_to_button": 0.021304530579276483,
+            "closest_contact_pad": [
+              0.17307415604591364,
+              -0.3615673457522981,
+              0.7907965499792006
+            ],
+            "closest_contact_pad_button": [
+              0.17307415604591364,
+              -0.35880184173583973,
+              0.7696722745895386
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027655040164583644,
+              0.021124275389661995
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6cf0ed75fc896d523794f69977a3adb5ca585976fee20fbabbf5da46e6480b1",
+    "visual_seed": 4355021358712663551,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..02827f57a7e1eb6992154d8966124087daff4d1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_30_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24574186690557748,
+              0.21516380583332695,
+              1.0007084224895775
+            ],
+            "current_z": 1.0007084224895775,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.13960167605623242,
+            "gripper_z": 1.0028383518576653,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24041955803443413,
+              0.21025316664827048,
+              1.0028383518576653
+            ],
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+              0.00532230887114335,
+              0.004910639185056465,
+              -0.0021299293680878684
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+            "object_to_gripper_xy": 0.0072416399334448555,
+            "object_to_gripper_z": -0.0021299293680878684,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24574186690557748,
+              0.19048838400132512,
+              1.0007084224895775
+            ],
+            "finger_b": [
+              0.23394219856314166,
+              0.21516380583332695,
+              1.0007084224895775
+            ],
+            "finger_midpoint": [
+              0.23984203273435956,
+              0.20282609491732603,
+              1.0007084224895775
+            ],
+            "object_minus_finger_midpoint": [
+              0.005899834171217921,
+              0.012337710916000916,
+              0.0
+            ],
+            "finger_gap": 0.02735157427971404,
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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": 0.0150537204665249,
+            "object_projection_between_fingers": 0.8138877562801813,
+            "object_to_finger_line_xy": 0.010645156686402103,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803569841950389,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1919593018440486,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19192069972595163,
+              -0.08800718306754898,
+              0.7565863242274076
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+            "gripper_position": [
+              0.19607778237523651,
+              -0.10198704318199739,
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+            "target_minus_gripper": [
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+              0.013979860114448406,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0047919964748511235,
+              -0.002195454702541788
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+            "xy_dist": 0.014584849158374276,
+            "held_xy_dist": 0.01324212764634505,
+            "held_gripper_dist": 0.0075310706134736555,
+            "max_held_gripper_dist": 0.007645104472950325,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863242274076,
+            "held_z": 1.0149830418680825,
+            "required_height": 0.7865863242274076,
+            "gripper_z": 1.0171784965706243,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.5097130363056,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
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+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ccd4107c793a96a08af9ee23df3a8ac00a4d3fa3bb79459f3cfc4dae9f82cad",
+    "visual_seed": 6464817222337540447,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..051efab58be5455fcaac0f170e73ddb2def6b7f1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_31_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              1.0013829672735235
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+            "lift_margin": 0.14027639965411254,
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+              0.20976091084390328,
+              1.003550939441941
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+              0.004756172371157913,
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+            "object_to_gripper_z": -0.0021679721684175757,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.189743045860115,
+              1.0013829672735235
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+              0.2145170832150612,
+              1.0013829672735235
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+              0.20213006453758808,
+              1.0013829672735235
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+            "stable_success_frames": 158,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "target_position": [
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+              -0.10000407109877775,
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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,
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+            "valid_pour_pose_frames": 0,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "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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+              "source_pose_held_object": "beaker_a",
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+              0.4
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_axis_frame": "end_effector",
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+                0.2
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.6627543147946637,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31986030996720227,
+              -0.3073667500943788,
+              0.8470196189043862
+            ],
+            "target_position": [
+              0.3137263959781877,
+              -0.3067383242420069,
+              0.8084375599031817
+            ],
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+            "xy_dist": 0.006166021397672743,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18651258899472697,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196189043862,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08732588042644938,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551075826796222,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.33469178505275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007175743579864502,
+            "max_z_decrease": 0.007175743579864502,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501752795037429,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007175743579864502,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021253975767440193,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007175743579864502,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0071760057523476625,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1694263219833374,
+              -0.3629997968673705,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1694263219833374,
+              -0.3629997968673705,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1692334379397779,
+              -0.36421692667052163,
+              0.8061872995523706
+            ],
+            "closest_button": [
+              0.1693618297576904,
+              -0.36301144957542414,
+              0.7711907625198364
+            ],
+            "closest_ee_minus_button": [
+              -0.0001283918179124932,
+              -0.0012054770950974958,
+              0.034996537032534136
+            ],
+            "button_min_z_position": [
+              0.16936641931533808,
+              -0.3630129992961883,
+              0.7696331143379211
+            ],
+            "min_active_finger_to_button": 0.14607807977908743,
+            "closest_active_finger": [
+              0.028438031673431396,
+              -0.3468289077281952,
+              0.8104427456855774
+            ],
+            "closest_active_finger_button": [
+              0.16942863166332245,
+              -0.36300471425056446,
+              0.7758190631866455
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14099059998989105,
+              0.016175806522369274,
+              0.034623682498931885
+            ],
+            "min_contact_pad_to_button": 0.021253975767440193,
+            "closest_contact_pad": [
+              0.16936641931533808,
+              -0.36557190481480784,
+              0.7907324860932534
+            ],
+            "closest_contact_pad_button": [
+              0.16936641931533808,
+              -0.3630129992961883,
+              0.7696331143379211
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025589055186195364,
+              0.021099371755332275
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6519360f79bf32a64818025eb627a46312ad8f944d8dee91cba30038b8d1fd5e",
+    "visual_seed": 7451390548917547746,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6449bbd6b271a632a07e45c8e2629ff0fffa956b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_32_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24991644086167947,
+              0.21482413266191233,
+              1.0025284754912223
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+            "current_z": 1.0025284754912223,
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+            "initial_z": 0.7611069252472795,
+            "lift_margin": 0.14142155024394276,
+            "gripper_z": 1.0049505168887616,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.24456153389993684,
+              0.20991769436072524,
+              1.0049505168887616
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+              0.005354906961742623,
+              0.004906438301187088,
+              -0.0024220413975393207
+            ],
+            "object_to_gripper_xy": 0.0072627932210875485,
+            "object_to_gripper_z": -0.0024220413975393207,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24991644086167947,
+              0.19008951993284184,
+              1.0025284754912223
+            ],
+            "finger_b": [
+              0.2381093090980468,
+              0.21482413266191233,
+              1.0025284754912223
+            ],
+            "finger_midpoint": [
+              0.24401287497986313,
+              0.2024568262973771,
+              1.0025284754912223
+            ],
+            "object_minus_finger_midpoint": [
+              0.005903565881816342,
+              0.01236730636453523,
+              0.0
+            ],
+            "finger_gap": 0.027408200001840306,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013704100000920146,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0025284754912223,
+            "object_top_z": 1.0525585309465821,
+            "finger_top_clearance": 0.05003005545535988,
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+            "object_projection_between_fingers": 0.8144214443936639,
+            "object_to_finger_line_xy": 0.010655381659319159,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779734282890971,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.08965976587713043,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
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+                "ridgebase_rizon4",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "ground",
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+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007648304680724781,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16754576563835144,
+              -0.36773660778999323,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16754576563835144,
+              -0.36773660778999323,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16900109736956243,
+              -0.3656897030428342,
+              0.8045966334340809
+            ],
+            "closest_button": [
+              0.167447030544281,
+              -0.36775398254394526,
+              0.7695494890213013
+            ],
+            "closest_ee_minus_button": [
+              0.0015540668252814194,
+              0.0020642795011110437,
+              0.035047144412779674
+            ],
+            "button_min_z_position": [
+              0.16745078563690186,
+              -0.3677548468112945,
+              0.7691611647605896
+            ],
+            "min_active_finger_to_button": 0.1436359271797292,
+            "closest_active_finger": [
+              0.04267498850822449,
+              -0.4299040138721466,
+              0.8107267618179321
+            ],
+            "closest_active_finger_button": [
+              0.16755042970180511,
+              -0.36774742603301996,
+              0.7764636278152466
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12487544119358063,
+              -0.06215658783912664,
+              0.03426313400268555
+            ],
+            "min_contact_pad_to_button": 0.021021592863753047,
+            "closest_contact_pad": [
+              0.16745078563690186,
+              -0.3677548468112945,
+              0.7901827576243426
+            ],
+            "closest_contact_pad_button": [
+              0.16745078563690186,
+              -0.3677548468112945,
+              0.7691611647605896
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021021592863753047
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16bd450fa13eb5923690419d7cea647bdd3c172287a2312693cd08e273b32a12",
+    "visual_seed": 2333561881305731908,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a900112363276e7f4026f66669cbe3d6e8a841d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_33_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24935154064393297,
+              0.2113016299093761,
+              1.0003194641210826
+            ],
+            "current_z": 1.0003194641210826,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.13921265808309302,
+            "gripper_z": 1.0025892613785379,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2440354961663514,
+              0.20647714734499628,
+              1.0025892613785379
+            ],
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+              0.005316044477581577,
+              0.004824482564379812,
+              -0.0022697972574552416
+            ],
+            "object_to_gripper_xy": 0.007178855124713855,
+            "object_to_gripper_z": -0.0022697972574552416,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24935154064393297,
+              0.1864995747898623,
+              1.0003194641210826
+            ],
+            "finger_b": [
+              0.23783730753105303,
+              0.2113016299093761,
+              1.0003194641210826
+            ],
+            "finger_midpoint": [
+              0.243594424087493,
+              0.1989006023496192,
+              1.0003194641210826
+            ],
+            "object_minus_finger_midpoint": [
+              0.005757116556439984,
+              0.012401027559756889,
+              0.0
+            ],
+            "finger_gap": 0.027344460176224758,
+            "fingertip_max_gap": 0.09097306931872254,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0003194641210826,
+            "object_top_z": 1.0505531311329015,
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+            "fingertip_min_top_clearance": 0.015070100103545675,
+            "object_projection_between_fingers": 0.8226907767354434,
+            "object_to_finger_line_xy": 0.010443674604806425,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798653465936127,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2042134006683198,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19283145878091282,
+              -0.09092990584921412,
+              0.7565863829952454
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+            "gripper_position": [
+              0.197208906124699,
+              -0.1043869329136229,
+              1.0160539754377904
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+            "target_minus_gripper": [
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+              0.01345702706440878,
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+            "held_position": [
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+              -0.09972580955631569,
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+            "held_minus_target": [
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+              -0.008795903707101566,
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+            "held_minus_gripper": [
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+              0.004661123357307215,
+              -0.0023267367843957665
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+            "held_gripper_dist": 0.0075103705242443395,
+            "max_held_gripper_dist": 0.007636488320923034,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863829952454,
+            "held_z": 1.0137272386533946,
+            "required_height": 0.7865863829952454,
+            "gripper_z": 1.0160539754377904,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.59105375913127,
+            "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": 0.577045683058253,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.9369410293666425,
+            "max_source_tilt_deg": 89.96874201767122,
+            "source_upright_tilt_deg": 2.636017370800326,
+            "max_source_upright_tilt_deg": 89.60569518515499,
+            "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": 2.9369410293666425,
+            "source_upright_return_tilt_deg": 2.636017370800326,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.1556865687256189e-07,
+            "max_target_xy_drift": 6.347877236442998e-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": 0.0395646820036215,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.00020639613694693263,
+            "max_target_tilt_deg": 0.000534580263052998,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1928,
+                -0.0909,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0909,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+                1.0201
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_objects": [
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3198368300162734,
+              -0.30492009797291325,
+              0.8470194974990187
+            ],
+            "target_position": [
+              0.31342060311394543,
+              -0.305198941703473,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006422283199005593,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18736091779586986,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194974990187,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574850942211984,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0877744725386329,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15483337964866412,
+            "release_required_pad_clearance": 0.05388723626931645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.783690536149482,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007305026054382324,
+            "max_z_decrease": 0.007305026054382324,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507210816752123,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007305026054382324,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021086361134166953,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007305026054382324,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007305411776902122,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16912053525447845,
+              -0.36146038770675654,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16912053525447845,
+              -0.36146038770675654,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1676766820060406,
+              -0.3595741655636338,
+              0.8057670849905666
+            ],
+            "closest_button": [
+              0.16904722154140472,
+              -0.36147275567054743,
+              0.7707732319831848
+            ],
+            "closest_ee_minus_button": [
+              -0.001370539535364118,
+              0.0018985901069136224,
+              0.03499385300738178
+            ],
+            "button_min_z_position": [
+              0.16904747486114502,
+              -0.36147764325141907,
+              0.7695038318634033
+            ],
+            "min_active_finger_to_button": 0.14646080262100392,
+            "closest_active_finger": [
+              0.03999174386262894,
+              -0.4213358163833618,
+              0.8105396032333374
+            ],
+            "closest_active_finger_button": [
+              0.1691274791955948,
+              -0.3614700436592102,
+              0.7760313749313354
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12913573533296585,
+              -0.05986577272415161,
+              0.03450822830200195
+            ],
+            "min_contact_pad_to_button": 0.021086361134166953,
+            "closest_contact_pad": [
+              0.16904747486114502,
+              -0.36147764325141907,
+              0.7905901929975703
+            ],
+            "closest_contact_pad_button": [
+              0.16904747486114502,
+              -0.36147764325141907,
+              0.7695038318634033
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021086361134166953
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae88a63bf50fd9000eb7638f623e6ee0f0885196c26340f29002b0a54ddaf82b",
+    "visual_seed": 8832679470481339973,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2214bd64452ee96e882dd11bf81969f7cdcb3424
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_35_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007439851760864258,
+            "max_z_decrease": 0.007439851760864258,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505063065357382,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007439851760864258,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021021611610534605,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007439851760864258,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007440404597340543,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1676743477582932,
+              -0.36321812868118275,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1676743477582932,
+              -0.36321812868118275,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16599095424685312,
+              -0.3636738987234216,
+              0.804575568057708
+            ],
+            "closest_button": [
+              0.16758048534393316,
+              -0.3632314205169677,
+              0.7695637941360474
+            ],
+            "closest_ee_minus_button": [
+              -0.0015895310970800436,
+              -0.0004424782064538779,
+              0.03501177392166066
+            ],
+            "button_min_z_position": [
+              0.16758485138416296,
+              -0.3632328510284423,
+              0.7693690061569214
+            ],
+            "min_active_finger_to_button": 0.1474080121985707,
+            "closest_active_finger": [
+              0.02514331042766571,
+              -0.34796231985092163,
+              0.8109042048454285
+            ],
+            "closest_active_finger_button": [
+              0.16767682135105139,
+              -0.36322793364524836,
+              0.7765489816665649
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14253351092338568,
+              0.015265613794326727,
+              0.034355223178863525
+            ],
+            "min_contact_pad_to_button": 0.021021611610534605,
+            "closest_contact_pad": [
+              0.16758485138416296,
+              -0.36482196993135135,
+              0.7903304673611548
+            ],
+            "closest_contact_pad_button": [
+              0.16758485138416296,
+              -0.3632328510284423,
+              0.7693690061569214
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015891189029090258,
+              0.020961461204233367
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17e10ddba3992c5daeefe5a66f37cf0589bd1ba5052c9b3a045c205bb70085e6",
+    "visual_seed": 619657693548656492,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32fed8340ea8837c511e143504aa0abbd8df17ad
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_36_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25089902975959194,
+              0.21183402802869147,
+              1.0020667604997402
+            ],
+            "current_z": 1.0020667604997402,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1409601332756848,
+            "gripper_z": 1.004238606163581,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2454394497097179,
+              0.20692627129397215,
+              1.004238606163581
+            ],
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+              0.005459580049874041,
+              0.004907756734719326,
+              -0.0021718456638408767
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+            "object_to_gripper_xy": 0.007341191353463383,
+            "object_to_gripper_z": -0.0021718456638408767,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25089902975959194,
+              0.18691557777761175,
+              1.0020667604997402
+            ],
+            "finger_b": [
+              0.23925470076369365,
+              0.21183402802869147,
+              1.0020667604997402
+            ],
+            "finger_midpoint": [
+              0.2450768652616428,
+              0.19937480290315163,
+              1.0020667604997402
+            ],
+            "object_minus_finger_midpoint": [
+              0.005822164497949145,
+              0.012459225125539847,
+              0.0
+            ],
+            "finger_gap": 0.02750490066661308,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0020667604997402,
+            "object_top_z": 1.0521716148102267,
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+            "object_projection_between_fingers": 0.820770797198163,
+            "object_to_finger_line_xy": 0.010549343053752833,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047910519759403344,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22601340821452354,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1858692027955899,
+              -0.08611021466834909,
+              0.7565863371338084
+            ],
+            "gripper_position": [
+              0.19336584499237527,
+              -0.09692659347194878,
+              1.0186349113472657
+            ],
+            "target_minus_gripper": [
+              -0.007496642196785364,
+              0.010816378803599688,
+              -0.2620485742134573
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+            "held_position": [
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+              -0.09217284510224194,
+              1.0164236268128821
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f505a9a44c5e2ae112e3fc92fd4d7e303abe958ce490da01c1d541891908b7e",
+    "visual_seed": 5419090175500453368,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a12a2a777b4894846fb7bda01c995c05ef9d7db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_37_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.21718253860109782,
+              1.0027220861939434
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+            "current_z": 1.0027220861939434,
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+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.14161522055130893,
+            "gripper_z": 1.0050164349699329,
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+            "gripper_position": [
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+              0.21216824035530948,
+              1.0050164349699329
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+              0.0050142982457883345,
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+            "object_to_gripper_z": -0.002294348775989441,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24681175274950742,
+              0.19270175529892863,
+              1.0027220861939434
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+            "finger_b": [
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+              0.21718253860109782,
+              1.0027220861939434
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+              0.24069867482405033,
+              0.20494214695001323,
+              1.0027220861939434
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+              0.012240391651084592,
+              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": 0.010937949257753177,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047951476975891735,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1922997250871766,
+              -0.0933222123787589,
+              0.7565863301237598
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+            "gripper_position": [
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+              -0.10675472737224569,
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+            "target_minus_gripper": [
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+            "held_minus_target": [
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+              0.004763334446418022,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.50588130018122,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_tilt_deg": 2.9694485340918804,
+            "max_source_upright_tilt_deg": 89.90284255029452,
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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": 2.8405295671318824,
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+            "target_xy_drift": 6.094940155091868e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0005967810608763617,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+              "controller_target_position": [
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+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.2
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_t": 0.0,
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+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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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",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32238365166902383,
+              -0.31259231733803405,
+              0.8470195474802267
+            ],
+            "target_position": [
+              0.3156898358488032,
+              -0.3117127686842226,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006751353647192332,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862430830261557,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195474802267,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567423348534774,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08779107726082962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353974519734753,
+            "release_required_pad_clearance": 0.05389553863041481,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8007909169832343,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007501840591430664,
+            "max_z_decrease": 0.007501840591430664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502475882524792,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007501840591430664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021367279970991387,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007501840591430664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007502068910424391,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1713897585868835,
+              -0.3679742217063903,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1713897585868835,
+              -0.3679742217063903,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1722272150367442,
+              -0.3694862249636932,
+              0.8059749283209493
+            ],
+            "closest_button": [
+              0.1713325977325439,
+              -0.3679786622524261,
+              0.7709940671920776
+            ],
+            "closest_ee_minus_button": [
+              0.000894617304200318,
+              -0.0015075627112671186,
+              0.034980861128871665
+            ],
+            "button_min_z_position": [
+              0.1713323295116424,
+              -0.3679855167865753,
+              0.769307017326355
+            ],
+            "min_active_finger_to_button": 0.14511609413645107,
+            "closest_active_finger": [
+              0.03146845102310181,
+              -0.3516292870044708,
+              0.8081597685813904
+            ],
+            "closest_active_finger_button": [
+              0.17140349745750422,
+              -0.3679844439029693,
+              0.7733837366104126
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399350464344024,
+              0.01635515689849848,
+              0.03477603197097778
+            ],
+            "min_contact_pad_to_button": 0.021367279970991387,
+            "closest_contact_pad": [
+              0.1713323295116424,
+              -0.3708906002672414,
+              0.7904758893635961
+            ],
+            "closest_contact_pad_button": [
+              0.1713323295116424,
+              -0.3679855167865753,
+              0.769307017326355
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002905083480666093,
+              0.02116887203724116
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dca93e0445669b89e229b80e93024925b3c36077463c5e9192501820cf162e53",
+    "visual_seed": 981878494902918147,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d33f26281fc017c9eb090dabe51419d99a2d9214
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_38_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24856992127359892,
+              0.21107624181577628,
+              0.9995494560471095
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+            "current_z": 0.9995494560471095,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.13844300763698836,
+            "gripper_z": 1.0022651058090235,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2434220394307614,
+              0.20620155404906446,
+              1.0022651058090235
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+              0.005147881842837515,
+              0.004874687766711822,
+              -0.002715649761913963
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+            "object_to_gripper_xy": 0.007089659250679546,
+            "object_to_gripper_z": -0.002715649761913963,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24856992127359892,
+              0.1865925085184131,
+              0.9995494560471095
+            ],
+            "finger_b": [
+              0.2367159208054675,
+              0.21107624181577628,
+              0.9995494560471095
+            ],
+            "finger_midpoint": [
+              0.24264292103953322,
+              0.19883437516709468,
+              0.9995494560471095
+            ],
+            "object_minus_finger_midpoint": [
+              0.005927000234065699,
+              0.012241866648681599,
+              0.0
+            ],
+            "finger_gap": 0.02720239921909224,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9995494560471095,
+            "object_top_z": 1.0495429386695285,
+            "finger_top_clearance": 0.04999348262241898,
+            "fingertip_min_top_clearance": 0.014998044786725694,
+            "object_projection_between_fingers": 0.8101041559377584,
+            "object_to_finger_line_xy": 0.010669286324010981,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779817216328072,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22855024030425627,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
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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",
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+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007501423358917236,
+            "max_z_decrease": 0.007501423358917236,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501709229874997,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007501423358917236,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021341765941091367,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007501423358917236,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007502106484552564,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1700410842895507,
+              -0.36741706728935236,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1700410842895507,
+              -0.36741706728935236,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16977938900671774,
+              -0.36916245996821423,
+              0.8047885806349462
+            ],
+            "closest_button": [
+              0.16995017230510703,
+              -0.36742037534713734,
+              0.7698152661323547
+            ],
+            "closest_ee_minus_button": [
+              -0.00017078329838929318,
+              -0.0017420846210768892,
+              0.034973314502591446
+            ],
+            "button_min_z_position": [
+              0.17013834416866297,
+              -0.36744517087936396,
+              0.7693074345588684
+            ],
+            "min_active_finger_to_button": 0.14591661611161166,
+            "closest_active_finger": [
+              0.029261909425258636,
+              -0.3511148691177368,
+              0.8081597685813904
+            ],
+            "closest_active_finger_button": [
+              0.17005136609077445,
+              -0.3674288988113403,
+              0.7734633684158325
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14078945666551582,
+              0.01631402969360346,
+              0.03469640016555786
+            ],
+            "min_contact_pad_to_button": 0.021341765941091367,
+            "closest_contact_pad": [
+              0.1699417531490325,
+              -0.3704822368364148,
+              0.7905995023242925
+            ],
+            "closest_contact_pad_button": [
+              0.1699417531490325,
+              -0.36741515994071955,
+              0.7694792747497559
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003067076895695242,
+              0.021120227574536687
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d88cfaa79517db944c5aa3ddbccd86478119b1eae7399c9fa1b985574e60294",
+    "visual_seed": 3033337982974685069,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..834cd2bbec04eb86b8556934ffc4b28d82a1068b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_39_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.245186590661357,
+              0.21083926023146646,
+              1.0025760367187129
+            ],
+            "current_z": 1.0025760367187129,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14146946909930225,
+            "gripper_z": 1.0050739118415548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2401301981376621,
+              0.20596301210216045,
+              1.0050739118415548
+            ],
+            "object_minus_gripper": [
+              0.005056392523694914,
+              0.00487624812930601,
+              -0.0024978751228419416
+            ],
+            "object_to_gripper_xy": 0.007024592598310466,
+            "object_to_gripper_z": -0.0024978751228419416,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.245186590661357,
+              0.18649606130518814,
+              1.0025760367187129
+            ],
+            "finger_b": [
+              0.233197244936347,
+              0.21083926023146646,
+              1.0025760367187129
+            ],
+            "finger_midpoint": [
+              0.23919191779885202,
+              0.19866766076832731,
+              1.0025760367187129
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059946728625049905,
+              0.012171599463139143,
+              0.0
+            ],
+            "finger_gap": 0.027135507087175898,
+            "fingertip_max_gap": 0.09063969167777891,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0025760367187129,
+            "object_top_z": 1.0525779678949387,
+            "finger_top_clearance": 0.05000193117622587,
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+            "object_projection_between_fingers": 0.8047841464798123,
+            "object_to_finger_line_xy": 0.010755613559835567,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781984583888946,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19235394101293685,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18585996117301903,
+              -0.08658419870343201,
+              0.7565864860738967
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+            "gripper_position": [
+              0.1908169198437417,
+              -0.09748475069123391,
+              1.0169088366869774
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+            "target_minus_gripper": [
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+              0.010900551987801904,
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+            "held_position": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004672608260509609,
+              -0.0025275769056705144
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+            "held_gripper_dist": 0.007432632933438429,
+            "max_held_gripper_dist": 0.0075852121441653125,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7565864860738967,
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+            "gripper_z": 1.0169088366869774,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.60097802399531,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.6977460843047214,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.782040249546276,
+            "max_source_tilt_deg": 89.92158194542493,
+            "source_upright_tilt_deg": 2.782444264002676,
+            "max_source_upright_tilt_deg": 89.58490861318329,
+            "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": 2.782040249546276,
+            "source_upright_return_tilt_deg": 2.782444264002676,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.3031746193797307e-07,
+            "max_target_xy_drift": 6.89220459568233e-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": 0.03956468097189193,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0001957246988476838,
+            "max_target_tilt_deg": 0.0005877448721492631,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c98ff66515d95038e4745c694500c431b5e5cbd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_40_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.2194699117086121,
+              1.0020979526019995
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+              0.21453415287337216,
+              1.004299286839829
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+              0.004935758835239945,
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+            "object_to_gripper_z": -0.002201334237829533,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19464635429978186,
+              1.0020979526019995
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+            "finger_b": [
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+              0.2194699117086121,
+              1.0020979526019995
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+              0.20705813300419698,
+              1.0020979526019995
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+              0.012411778704415122,
+              0.0
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+              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_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "source_tilt_threshold_deg": 30.0,
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+            "valid_pour_pose_frames": 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": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551410124856398,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08767890924528075,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554509344645493,
+            "release_required_pad_clearance": 0.05383945462264038,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6872578724774288,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007384538650512695,
+            "max_z_decrease": 0.007384538650512695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035040254993478806,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007384538650512695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021049031294220196,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007384538650512695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007384965004252425,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1725806891918183,
+              -0.36748042702674866,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1725806891918183,
+              -0.36748042702674866,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1716472837409198,
+              -0.3675627842630723,
+              0.8051194159183056
+            ],
+            "closest_button": [
+              0.17250090837478643,
+              -0.36749470233917236,
+              0.7700896263122559
+            ],
+            "closest_ee_minus_button": [
+              -0.0008536246338666231,
+              -6.808192389995416e-05,
+              0.035029789606049744
+            ],
+            "button_min_z_position": [
+              0.1725029051303864,
+              -0.367496132850647,
+              0.769424319267273
+            ],
+            "min_active_finger_to_button": 0.14667842818330687,
+            "closest_active_finger": [
+              0.045553967356681824,
+              -0.4323161244392395,
+              0.8105773329734802
+            ],
+            "closest_active_finger_button": [
+              0.17258445918560034,
+              -0.36748889088630676,
+              0.7762954831123352
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270304918289185,
+              -0.06482723355293274,
+              0.03428184986114502
+            ],
+            "min_contact_pad_to_button": 0.021049031294220196,
+            "closest_contact_pad": [
+              0.1725029051303864,
+              -0.3685973346328447,
+              0.7904445255712069
+            ],
+            "closest_contact_pad_button": [
+              0.1725029051303864,
+              -0.367496132850647,
+              0.769424319267273
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011012017821977471,
+              0.021020206303933975
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37cbc42804683de023b396ab516f84f273ea2e6ba88663957a984f86b3867b21",
+    "visual_seed": 5618684396142540784,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cda2fc7e74b51a9429bc57acd3bf766c5450a3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_41_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2463894423463142,
+              0.21322487835471132,
+              1.0003714391521656
+            ],
+            "current_z": 1.0003714391521656,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.13926481192811013,
+            "gripper_z": 1.0026257378319867,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24092044099920668,
+              0.20829603104859218,
+              1.0026257378319867
+            ],
+            "object_minus_gripper": [
+              0.005469001347107538,
+              0.004928847306119144,
+              -0.0022542986798210762
+            ],
+            "object_to_gripper_xy": 0.007362303410054629,
+            "object_to_gripper_z": -0.0022542986798210762,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2463894423463142,
+              0.18832646489704746,
+              1.0003714391521656
+            ],
+            "finger_b": [
+              0.23468308066431415,
+              0.21322487835471132,
+              1.0003714391521656
+            ],
+            "finger_midpoint": [
+              0.24053626150531418,
+              0.2007756716258794,
+              1.0003714391521656
+            ],
+            "object_minus_finger_midpoint": [
+              0.005853180841000033,
+              0.01244920672883193,
+              0.0
+            ],
+            "finger_gap": 0.027513085914498508,
+            "fingertip_max_gap": 0.09084328885170284,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013756542957249254,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0003714391521656,
+            "object_top_z": 1.050433044467707,
+            "finger_top_clearance": 0.05006160531554138,
+            "fingertip_min_top_clearance": 0.015018481594662413,
+            "object_projection_between_fingers": 0.8189638657277626,
+            "object_to_finger_line_xy": 0.010593861922620448,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792164442585142,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.12680308996927672,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006430810169450463,
+              0.02112828163710423
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5bd30af9d215389139a77325294cd9548bf8a94acae633018c723e240103e27",
+    "visual_seed": 1308066507666728016,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb65df68c7c0ad5a3ca86ec5b988ac4657927da0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_42_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.24795596791639782,
+              0.2153905186312131,
+              1.0007486407882715
+            ],
+            "current_z": 1.0007486407882715,
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+            "lift_margin": 0.1396420135642159,
+            "gripper_z": 1.0027074307384696,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2426401751136899,
+              0.21056092309456584,
+              1.0027074307384696
+            ],
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+              0.005315792802707914,
+              0.004829595536647274,
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+            "object_to_gripper_z": -0.0019587899501980477,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24795596791639782,
+              0.1905926028180411,
+              1.0007486407882715
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+            "finger_b": [
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+              0.2153905186312131,
+              1.0007486407882715
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+            "finger_midpoint": [
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+              0.2029915607246271,
+              1.0007486407882715
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+              0.005777587505352094,
+              0.012398957906586017,
+              0.0
+            ],
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010473884703138363,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794797091341603,
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+              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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565863360531209
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+              -0.09775344384892648,
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+              0.0046836605107339335,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.65835844321258,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "source_upright_tilt_deg": 2.6980498887311786,
+            "max_source_upright_tilt_deg": 89.77309190742746,
+            "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,
+            "source_return_tilt_deg": 2.8842266644089647,
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+            "target_xy_drift": 7.524623411694245e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.039564668867491215,
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+            "target_tilt_deg": 3.660290028049776e-05,
+            "max_target_tilt_deg": 0.0005818415721578394,
+            "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",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
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+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0853,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+                  0.4
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+              "wrist_compensated_return_position": -1.629068374633789
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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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+            "pour_controller_controller_target_position": [
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32101785476610045,
+              -0.30323124655658906,
+              0.8470196370188412
+            ],
+            "target_position": [
+              0.3152463813375815,
+              -0.30241892352507443,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005828359481331743,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18511128632417878,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196370188412,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525607428182478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15369774964418234,
+            "release_required_pad_clearance": 0.05352045769327994,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0528206742059827,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007331669330596924,
+            "max_z_decrease": 0.007331669330596924,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505782218935008,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007331669330596924,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021245007039433994,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007331669330596924,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007332251607933025,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17094630002975464,
+              -0.35868036746978754,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17094630002975464,
+              -0.35868036746978754,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17230763276190775,
+              -0.3570405948333791,
+              0.806737784805181
+            ],
+            "closest_button": [
+              0.17089541256427762,
+              -0.35869923233985895,
+              0.7717477083206177
+            ],
+            "closest_ee_minus_button": [
+              0.0014122201976301263,
+              0.0016586375064798764,
+              0.034990076484563315
+            ],
+            "button_min_z_position": [
+              0.17085580527782435,
+              -0.3586990535259246,
+              0.7694771885871887
+            ],
+            "min_active_finger_to_button": 0.14400738944693334,
+            "closest_active_finger": [
+              0.04442024230957031,
+              -0.4179151654243469,
+              0.8077163100242615
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+            "closest_active_finger_button": [
+              0.17096990346908567,
+              -0.3586902022361755,
+              0.7728492021560669
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12654966115951535,
+              -0.05922496318817144,
+              0.03486710786819458
+            ],
+            "min_contact_pad_to_button": 0.021245007039433994,
+            "closest_contact_pad": [
+              0.17085580527782435,
+              -0.3586990535259246,
+              0.7907221956266227
+            ],
+            "closest_contact_pad_button": [
+              0.17085580527782435,
+              -0.3586990535259246,
+              0.7694771885871887
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021245007039433994
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d07e725c7111b1c1018f8dae90ea8da53dc38c862c43d3524015be92162f0b6",
+    "visual_seed": 3471892816681188392,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b36e55fe672dd2e1ffd1c7c639b49b42df7150d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_43_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+              1.0011136551139845
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+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1400070874945737,
+            "gripper_z": 1.0031264873629233,
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+            "gripper_position": [
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+              0.20553952848839774,
+              1.0031264873629233
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+              0.0048563986662478464,
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+            "object_to_gripper_z": -0.0020128322489387784,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24847736925232694,
+              0.18562317986280533,
+              1.0011136551139845
+            ],
+            "finger_b": [
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+              0.21039592715464558,
+              1.0011136551139845
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+            "finger_midpoint": [
+              0.24266382885068877,
+              0.19800955350872546,
+              1.0011136551139845
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+            "object_minus_finger_midpoint": [
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+              0.012386373645920129,
+              0.0
+            ],
+            "finger_gap": 0.027365635684034398,
+            "fingertip_max_gap": 0.09079083901334212,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0071353912353515625,
+            "max_z_decrease": 0.0071353912353515625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499634944142404,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0071353912353515625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021232235312485775,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0071353912353515625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0071358827562279705,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17329525947570806,
+              -0.35852980613708485,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17329525947570806,
+              -0.35852980613708485,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17354725400323812,
+              -0.35779239174013033,
+              0.8059497929093643
+            ],
+            "closest_button": [
+              0.17338849604129797,
+              -0.3584895431995391,
+              0.7709607481956482
+            ],
+            "closest_ee_minus_button": [
+              0.00015875796194014802,
+              0.0006971514594087402,
+              0.03498904471371611
+            ],
+            "button_min_z_position": [
+              0.17321343719959265,
+              -0.35854768753051747,
+              0.7696734666824341
+            ],
+            "min_active_finger_to_button": 0.14535726351185413,
+            "closest_active_finger": [
+              0.045844919979572296,
+              -0.41906967759132385,
+              0.8080125451087952
+            ],
+            "closest_active_finger_button": [
+              0.17331969738006597,
+              -0.3585405647754668,
+              0.7731536626815796
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12747477740049368,
+              -0.060529112815857045,
+              0.034858882427215576
+            ],
+            "min_contact_pad_to_button": 0.021232235312485775,
+            "closest_contact_pad": [
+              0.17321343719959265,
+              -0.3591302205418676,
+              0.7908977092285288
+            ],
+            "closest_contact_pad_button": [
+              0.17321343719959265,
+              -0.35854768753051747,
+              0.7696734666824341
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005825330113501392,
+              0.021224242546094674
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f1df24d10d0d44a7d59ecff2dd60897684caa4158f0c0e78ed6dcae3d6fe04f",
+    "visual_seed": 7525701487040263205,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a52034bcab23a80cbe809000ce3a8be665979c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_44_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24993898400314413,
+              0.21198314847791708,
+              0.9994278670686658
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+            "current_z": 0.9994278670686658,
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+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.13832118023996554,
+            "gripper_z": 1.0021893213176916,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.20695903970868615,
+              1.0021893213176916
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+              0.005024108769230928,
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+            "object_to_gripper_z": -0.002761454249025741,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24993898400314413,
+              0.18754864806898516,
+              0.9994278670686658
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+            "finger_b": [
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+              0.21198314847791708,
+              0.9994278670686658
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+            "finger_midpoint": [
+              0.24383517328766358,
+              0.19976589827345112,
+              0.9994278670686658
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+            "object_minus_finger_midpoint": [
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+              0.012217250204465957,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010920549363639221,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.09171383125002533,
+              0.7565863916416512
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+            "gripper_position": [
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+              -0.10252025990520823,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865863916416512,
+            "gripper_z": 1.0169287328084888,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.4488492206116,
+            "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": 0.8057811230281321,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.744084356934863,
+            "max_source_tilt_deg": 89.79348821213328,
+            "source_upright_tilt_deg": 2.673775405396398,
+            "max_source_upright_tilt_deg": 89.86026226251619,
+            "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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+        "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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd841b2ad478442222f716ef3c480aa53dd78056322b6ca58a2a48cf4c632298",
+    "visual_seed": 8455462544814639078,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..55fefd39000ff0e482939fe8185eda3d09739ea4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_45_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+              0.21285108956750282,
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+              0.20803065570429105,
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+              0.004820433863211765,
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+            "object_to_gripper_z": -0.0019847782063324715,
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+              0.21285108956750282,
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+              0.20049943305346452,
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+              0.0123516565140383,
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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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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.09697548256291302,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "missing_end_effector_orientation_samples": 0,
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+            "valid_pour_pose_frames": 0,
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+            "valid_pour_grasp_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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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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+        "skill": "pick",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.326757165325006,
+              -0.30725238706442215,
+              0.847019446617405
+            ],
+            "target_position": [
+              0.32025101634964614,
+              -0.30727533291608006,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006506189437887908,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18711537171081621,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019446617405,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754028894174816,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866834972511623,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15529286740854076,
+            "release_required_pad_clearance": 0.05334174862558115,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.699916146017872,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007457077503204346,
+            "max_z_decrease": 0.007457077503204346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502892633930178,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007457077503204346,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021178851220609127,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007457077503204346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074575572516484955,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1759509444236755,
+              -0.36353680491447443,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1759509444236755,
+              -0.36353680491447443,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1740212795211907,
+              -0.36423869121923896,
+              0.8062743480076098
+            ],
+            "closest_button": [
+              0.17588248848915095,
+              -0.3635407984256744,
+              0.7713018655776978
+            ],
+            "closest_ee_minus_button": [
+              -0.0018612089679602428,
+              -0.0006978927935645807,
+              0.03497248242991202
+            ],
+            "button_min_z_position": [
+              0.17586642503738398,
+              -0.36353337764739985,
+              0.7693517804145813
+            ],
+            "min_active_finger_to_button": 0.14787284420354632,
+            "closest_active_finger": [
+              0.03302231431007385,
+              -0.34818148612976074,
+              0.808551549911499
+            ],
+            "closest_active_finger_button": [
+              0.17595927417278284,
+              -0.36355134844779957,
+              0.7739225029945374
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.142936959862709,
+              0.01536986231803883,
+              0.03462904691696167
+            ],
+            "min_contact_pad_to_button": 0.021178851220609127,
+            "closest_contact_pad": [
+              0.17586642503738398,
+              -0.36546511066308557,
+              0.7904423505012529
+            ],
+            "closest_contact_pad_button": [
+              0.17586642503738398,
+              -0.36353337764739985,
+              0.7693517804145813
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019317330156857215,
+              0.02109057008667159
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91059ee68c6696f76189da7d11ea21098d30db3b60c9e913e32482ddf0c17e89",
+    "visual_seed": 2131078744097647519,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..688ac0ee6a65b7531a7591c0e22c25d288d5bf32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_46_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2423213775736636,
+              0.21983742944978799,
+              1.0028183115979141
+            ],
+            "current_z": 1.0028183115979141,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.14171174397850317,
+            "gripper_z": 1.0049004251458906,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23717184343352435,
+              0.21492794107231128,
+              1.0049004251458906
+            ],
+            "object_minus_gripper": [
+              0.005149534140139245,
+              0.004909488377476706,
+              -0.002082113547976494
+            ],
+            "object_to_gripper_xy": 0.007114828036505063,
+            "object_to_gripper_z": -0.002082113547976494,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2423213775736636,
+              0.19539572637412428,
+              1.0028183115979141
+            ],
+            "finger_b": [
+              0.23032280384048467,
+              0.21983742944978799,
+              1.0028183115979141
+            ],
+            "finger_midpoint": [
+              0.23632209070707413,
+              0.20761657791195615,
+              1.0028183115979141
+            ],
+            "object_minus_finger_midpoint": [
+              0.005999286866589459,
+              0.01222085153783184,
+              0.0
+            ],
+            "finger_gap": 0.027227974968209438,
+            "fingertip_max_gap": 0.09076691251646343,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013613987484104707,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0028183115979141,
+            "object_top_z": 1.052817933061888,
+            "finger_top_clearance": 0.049999621463973964,
+            "fingertip_min_top_clearance": 0.014999886439192173,
+            "object_projection_between_fingers": 0.805809238855752,
+            "object_to_finger_line_xy": 0.010770745046600956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788345625823172,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.16415268918737866,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+              0.0014250113887604998,
+              0.0350047321121264
+            ],
+            "button_min_z_position": [
+              0.16802689433097837,
+              -0.36531087756156916,
+              0.7693769335746765
+            ],
+            "min_active_finger_to_button": 0.14633944952006883,
+            "closest_active_finger": [
+              0.0397949293255806,
+              -0.4266948699951172,
+              0.8109238147735596
+            ],
+            "closest_active_finger_button": [
+              0.1681198924779892,
+              -0.36530458927154535,
+              0.7765847444534302
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283249631524086,
+              -0.06139028072357183,
+              0.034339070320129395
+            ],
+            "min_contact_pad_to_button": 0.021015377692300663,
+            "closest_contact_pad": [
+              0.16801847517490384,
+              -0.36531382799148554,
+              0.7905319053450411
+            ],
+            "closest_contact_pad_button": [
+              0.16801847517490384,
+              -0.36531382799148554,
+              0.7695165276527405
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021015377692300663
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24df05da52c30542d8f31b58abee41986d378387af442ea084bfb115c6ee9dff",
+    "visual_seed": 1312576979034520928,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d57cfe4d76790b41732d3de93a3c57487609b8c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_47_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24849762872404596,
+              0.21456945455751794,
+              0.9999656509781047
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+            "current_z": 0.9999656509781047,
+            "required_z": 0.8611069252472795,
+            "initial_z": 0.7611069252472795,
+            "lift_margin": 0.13885872573082525,
+            "gripper_z": 1.0024783939669992,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24306324627280526,
+              0.20961528768046744,
+              1.0024783939669992
+            ],
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+              0.005434382451240699,
+              0.004954166877050498,
+              -0.0025127429888944786
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+            "object_to_gripper_xy": 0.0073536577342175205,
+            "object_to_gripper_z": -0.0025127429888944786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24849762872404596,
+              0.1897998902485778,
+              0.9999656509781047
+            ],
+            "finger_b": [
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+              0.21456945455751794,
+              0.9999656509781047
+            ],
+            "finger_midpoint": [
+              0.24254836348817432,
+              0.20218467240304788,
+              0.9999656509781047
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012384782154470059,
+              0.0
+            ],
+            "finger_gap": 0.02747919837698555,
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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": 1.049940931557774,
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+            "fingertip_min_top_clearance": 0.01499258417390073,
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+            "object_to_finger_line_xy": 0.010725255215179997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047782281317889586,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.01747789876674914,
+            "object_max_tilt_deg": 15.0,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.0890148155009004,
+              0.7565864004730467
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+            "gripper_position": [
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+              -0.10085283101072832,
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+            "held_minus_target": [
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+              0.2565962605459564
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+              0.00474762032607963,
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+            "held_gripper_dist": 0.007750553487449237,
+            "max_held_gripper_dist": 0.007897735923538029,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865864004730467,
+            "gripper_z": 1.015729565092069,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.72471373099926,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.09921397010129866,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.881570603917431,
+            "max_source_tilt_deg": 89.5360309068941,
+            "source_upright_tilt_deg": 2.868631696258552,
+            "max_source_upright_tilt_deg": 89.57646603775045,
+            "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": 2.881570603917431,
+            "source_upright_return_tilt_deg": 2.868631696258552,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 0.0,
+            "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": 0.03956466482347827,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1949,
+                -0.089,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.089,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0007,
+                -0.0018
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+              "controller_last_pour_pose_position": [
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+                1.02
+              ],
+              "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
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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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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+                  0.0006895335460336419,
+                  -0.0017566163508910843
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+                "use_preinterpolated_cartesian_targets": false
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32586141598863183,
+              -0.3112686339513795,
+              0.8470198099900618
+            ],
+            "target_position": [
+              0.3189817168578648,
+              -0.31116959163372043,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0068804120160469925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18776533753334615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198099900618,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564734767828875,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08789102177569784,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15537249468937867,
+            "release_required_pad_clearance": 0.05394551088784892,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8996582143651772,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007527291774749756,
+            "max_z_decrease": 0.007527291774749756,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350099280625726,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007527291774749756,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112180510555777,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007527291774749756,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007527647961281675,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17468164861202237,
+              -0.36743104457855225,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17468164861202237,
+              -0.36743104457855225,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17357353782855892,
+              -0.36768850476537024,
+              0.8061594433178157
+            ],
+            "closest_button": [
+              0.17461805045604706,
+              -0.36744219064712524,
+              0.7711659669876099
+            ],
+            "closest_ee_minus_button": [
+              -0.0010445126274881422,
+              -0.0002463141182449946,
+              0.034993476330205886
+            ],
+            "button_min_z_position": [
+              0.17460927367210388,
+              -0.36744219064712524,
+              0.7692815661430359
+            ],
+            "min_active_finger_to_button": 0.1471086094848215,
+            "closest_active_finger": [
+              0.03254271298646927,
+              -0.35189443826675415,
+              0.8106150031089783
+            ],
+            "closest_active_finger_button": [
+              0.17468363046646118,
+              -0.36743834614753723,
+              0.7760420441627502
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1421409174799919,
+              0.015543907880783081,
+              0.03457295894622803
+            ],
+            "min_contact_pad_to_button": 0.02112180510555777,
+            "closest_contact_pad": [
+              0.17460927367210388,
+              -0.3689042378887009,
+              0.7903527091775409
+            ],
+            "closest_contact_pad_button": [
+              0.17460927367210388,
+              -0.36744219064712524,
+              0.7692815661430359
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014620472415756702,
+              0.02107114303450497
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1f947e31bdc540483f867000a8be30b15fe77c5d2a5cf6621e9839db6c8f2e5",
+    "visual_seed": 6397423501540867036,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bd1a8c779b0e1a5d4d44b9f7a152dbb589d453a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_48_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25087067729858925,
+              0.2171643738266513,
+              1.0033818982611924
+            ],
+            "current_z": 1.0033818982611924,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.14227521143249222,
+            "gripper_z": 1.005342349789042,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24552201872475862,
+              0.21232266316220832,
+              1.005342349789042
+            ],
+            "object_minus_gripper": [
+              0.005348658573830628,
+              0.004841710664442972,
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+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007529497146606445,
+            "max_z_decrease": 0.007529497146606445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506586678454525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007529497146606445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02111885571581732,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007529497146606445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007530115484799898,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1685730367898941,
+              -0.36478826403617853,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1685730367898941,
+              -0.36478826403617853,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1670288619597901,
+              -0.3662772026277981,
+              0.8043571042704861
+            ],
+            "closest_button": [
+              0.16848039627075195,
+              -0.3648045361042022,
+              0.7693522572517395
+            ],
+            "closest_ee_minus_button": [
+              -0.001451534310961844,
+              -0.0014726665235959002,
+              0.03500484701874662
+            ],
+            "button_min_z_position": [
+              0.16847744584083557,
+              -0.36480146646499634,
+              0.7692793607711792
+            ],
+            "min_active_finger_to_button": 0.1471179592606256,
+            "closest_active_finger": [
+              0.026158563792705536,
+              -0.35115933418273926,
+              0.8108224868774414
+            ],
+            "closest_active_finger_button": [
+              0.16857326030731198,
+              -0.3647991716861725,
+              0.7765339612960815
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14241469651460645,
+              0.013639837503433228,
+              0.03428852558135986
+            ],
+            "min_contact_pad_to_button": 0.02111885571581732,
+            "closest_contact_pad": [
+              0.16848039627075195,
+              -0.36736748363528604,
+              0.7903150186800061
+            ],
+            "closest_contact_pad_button": [
+              0.16848039627075195,
+              -0.3648045361042022,
+              0.7693522572517395
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025629475310838257,
+              0.020962761428266585
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07d36ce12759d8a7e6f322d64c7dbd79a6151137f6e8be584f5ec5f90e55d5cb",
+    "visual_seed": 8394217174463790415,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8dc38b48b4a12fffd82c7b6fc29448a5d755ad
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_4_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24938475588102532,
+              0.21223438221237556,
+              1.0015553400535717
+            ],
+            "current_z": 1.0015553400535717,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14044883203880554,
+            "gripper_z": 1.0041851016996513,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24410695751614125,
+              0.20725794724605717,
+              1.0041851016996513
+            ],
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+              0.005277798364884068,
+              0.004976434966318388,
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+            ],
+            "object_to_gripper_xy": 0.007253968607208694,
+            "object_to_gripper_z": -0.0026297616460795314,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24938475588102532,
+              0.18771173085117157,
+              1.0015553400535717
+            ],
+            "finger_b": [
+              0.23726824252840473,
+              0.21223438221237556,
+              1.0015553400535717
+            ],
+            "finger_midpoint": [
+              0.24332649920471502,
+              0.19997305653177355,
+              1.0015553400535717
+            ],
+            "object_minus_finger_midpoint": [
+              0.006058256676310297,
+              0.012261325680602009,
+              0.0
+            ],
+            "finger_gap": 0.027352702345607337,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8037747678577771,
+            "object_to_finger_line_xy": 0.010862876687845975,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797221537574811,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3321251363157906,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18982867458541153,
+              -0.09114629026987785,
+              0.7565864160328838
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+            "gripper_position": [
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+              -0.10426047118062617,
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+            "held_position": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004710410117866659,
+              -0.0026589819618161314
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+            "xy_dist": 0.014018115139634201,
+            "held_xy_dist": 0.013388733468057882,
+            "held_gripper_dist": 0.0076931111181356565,
+            "max_held_gripper_dist": 0.007851874932152926,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864160328838,
+            "held_z": 1.0149952900634491,
+            "required_height": 0.7865864160328838,
+            "gripper_z": 1.0176542720252653,
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f3ea836aff794e29089850a08a597dfa0db26f48e36e385455d72150b62a6e86",
+    "visual_seed": 6880004448266389021,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b70d6d7592bd6764c1a7eeb26003894276ff94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_50_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.25119721125152283,
+              0.21324417940472207,
+              1.0028406033749637
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+            "current_z": 1.0028406033749637,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.14173397615090821,
+            "gripper_z": 1.004883495490647,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24589742190154634,
+              0.20837007960248108,
+              1.004883495490647
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+              0.005299789349976491,
+              0.004874099802240989,
+              -0.0020428921156832036
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+            "object_to_gripper_xy": 0.007200320550942846,
+            "object_to_gripper_z": -0.0020428921156832036,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.25119721125152283,
+              0.18853498036703042,
+              1.0028406033749637
+            ],
+            "finger_b": [
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+              0.21324417940472207,
+              1.0028406033749637
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+              0.24532493802275984,
+              0.20088957988587625,
+              1.0028406033749637
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+              0.005872273228762992,
+              0.012354599518845821,
+              0.0
+            ],
+            "finger_gap": 0.027358342211787023,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8157137447721741,
+            "object_to_finger_line_xy": 0.010607307042946391,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047890764267652985,
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+            "object_tilt_deg": 0.25354437037602506,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.0914616248750739,
+              0.7565864399320112
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+            "gripper_position": [
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+              -0.10387554593238114,
+              1.016542412850675
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+              0.01241392105730725,
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+              -0.0990683363760734,
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+            "held_minus_gripper": [
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+              0.004807209556307743,
+              -0.002074787102583242
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+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.62666636546372,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_tilt_deg": 2.8765964088244727,
+            "max_source_tilt_deg": 89.82905774201616,
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+            "max_source_upright_tilt_deg": 89.94214329037763,
+            "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": 1.2661698454457924e-07,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.03956468083371387,
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+            "max_target_tilt_deg": 0.0004130076514668299,
+            "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_b",
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+                -0.0915,
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+              "controller_target_position": [
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+                -0.0915,
+                0.7566
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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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+                1.0208
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+              "controller_event": 6,
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+                "tilt_position_threshold_m": 0.04,
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+                "pour_pose_offset_m": [
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+                  9.066136569194343e-05,
+                  -0.0009608514527007239
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6296299695968628
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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_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.001
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "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": [
+                -2.176983931853095e-05,
+                9.066136569194343e-05,
+                -0.0009608514527007239
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
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+            },
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+            "last_frame": {
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+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31892195057772077,
+              -0.3068212140558027,
+              0.8470196728987034
+            ],
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+              0.31178192156650597,
+              -0.3071114141131379,
+              0.8084375599031817
+            ],
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+            "xy_threshold": 0.08,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196728987034,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_min_pad_clearance": 0.15452138624231532,
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+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9261879766994471,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007125377655029297,
+            "max_z_decrease": 0.007125377655029297,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502367313766917,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007125377655029297,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021183407514517347,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007125377655029297,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007125835723183537,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16748185455799103,
+              -0.3633728623390198,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16748185455799103,
+              -0.3633728623390198,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16805379393680966,
+              -0.36420908174213545,
+              0.8049420454783445
+            ],
+            "closest_button": [
+              0.16740261018276215,
+              -0.36338782310485834,
+              0.7699340581893921
+            ],
+            "closest_ee_minus_button": [
+              0.0006511837540475185,
+              -0.0008212586372771113,
+              0.03500798728895238
+            ],
+            "button_min_z_position": [
+              0.1674024611711502,
+              -0.36338785290718073,
+              0.7696834802627563
+            ],
+            "min_active_finger_to_button": 0.14522451364150152,
+            "closest_active_finger": [
+              0.027399346232414246,
+              -0.3469228446483612,
+              0.8092889785766602
+            ],
+            "closest_active_finger_button": [
+              0.1674897372722626,
+              -0.36338612437248224,
+              0.774737536907196
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14009039103984836,
+              0.016463279724121038,
+              0.03455144166946411
+            ],
+            "min_contact_pad_to_button": 0.021183407514517347,
+            "closest_contact_pad": [
+              0.1674024611711502,
+              -0.36550149209614274,
+              0.7907611766099617
+            ],
+            "closest_contact_pad_button": [
+              0.1674024611711502,
+              -0.36338785290718073,
+              0.7696834802627563
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002113639188962013,
+              0.021077696347205355
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a7e1226b1c8a690a7a80500c06a1b943a7da484dc1d76baec3ed8e3a89881950",
+    "visual_seed": 2620510458209312760,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc264f5aa8bb3774ca92562558966372d7e95d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_51_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.002415811780633
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+            "lift_margin": 0.14130924416122204,
+            "gripper_z": 1.0043738946630694,
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+            "gripper_position": [
+              0.24397530765517825,
+              0.20861754008113975,
+              1.0043738946630694
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+              0.005271045655331763,
+              0.004814461163606815,
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+            "object_to_gripper_z": -0.001958082882436374,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24924635331051,
+              0.1886737070253786,
+              1.002415811780633
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+              0.23769253024598422,
+              0.21343200124474657,
+              1.002415811780633
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+            "finger_midpoint": [
+              0.24346944177824711,
+              0.20105285413506258,
+              1.002415811780633
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+              0.005776911532262896,
+              0.012379147109683991,
+              0.0
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+            "finger_gap": 0.02732149263966295,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8211690924826578,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.15000099900431094,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint7",
+                "left_inner_finger",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+            "contact_point_distance": 0.021014115669902633,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007570743560791016,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075712022508771775,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17174470424652102,
+              -0.36369431018829335,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17174470424652102,
+              -0.36369431018829335,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1708349115176754,
+              -0.36187579244415913,
+              0.804392267106864
+            ],
+            "closest_button": [
+              0.17164745926856995,
+              -0.36371308565139765,
+              0.7693792581558228
+            ],
+            "closest_ee_minus_button": [
+              -0.0008125477508945378,
+              0.0018372932072385217,
+              0.0350130089510412
+            ],
+            "button_min_z_position": [
+              0.17166329920291903,
+              -0.36371216177940363,
+              0.7692381143569946
+            ],
+            "min_active_finger_to_button": 0.14578311733989321,
+            "closest_active_finger": [
+              0.04454165697097778,
+              -0.42610087990760803,
+              0.810806155204773
+            ],
+            "closest_active_finger_button": [
+              0.17174762487411505,
+              -0.36370423436164845,
+              0.7764838933944702
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12720596790313726,
+              -0.062396645545959584,
+              0.034322261810302734
+            ],
+            "min_contact_pad_to_button": 0.021014115669902633,
+            "closest_contact_pad": [
+              0.17164745926856995,
+              -0.36371308565139765,
+              0.7903933738257254
+            ],
+            "closest_contact_pad_button": [
+              0.17164745926856995,
+              -0.36371308565139765,
+              0.7693792581558228
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021014115669902633
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c1220cc19df4ea226ff394a705a028947269cd328539b96ac8a9b8d5c3909f3e",
+    "visual_seed": 8932064679000572434,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7160ffcb00cbbbf60b6ad2b574f86ade00d4a7b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_52_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2457986953795078,
+              0.21763628295306012,
+              1.0032703569794097
+            ],
+            "current_z": 1.0032703569794097,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.14216355094141997,
+            "gripper_z": 1.0053950506380536,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24032884114029518,
+              0.21272624908769044,
+              1.0053950506380536
+            ],
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+              0.005469854239212618,
+              0.004910033865369673,
+              -0.0021246936586438725
+            ],
+            "object_to_gripper_xy": 0.007350356314989722,
+            "object_to_gripper_z": -0.0021246936586438725,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2457986953795078,
+              0.19270999247985768,
+              1.0032703569794097
+            ],
+            "finger_b": [
+              0.23416288458451212,
+              0.21763628295306012,
+              1.0032703569794097
+            ],
+            "finger_midpoint": [
+              0.23998078998200995,
+              0.2051731377164589,
+              1.0032703569794097
+            ],
+            "object_minus_finger_midpoint": [
+              0.005817905397497852,
+              0.01246314523660122,
+              0.0
+            ],
+            "finger_gap": 0.02750839961923268,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0032703569794097,
+            "object_top_z": 1.0533645682259314,
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+            "fingertip_min_top_clearance": 0.01502826337395654,
+            "object_projection_between_fingers": 0.8210784499513829,
+            "object_to_finger_line_xy": 0.010543601364744803,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792337699918546,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.09179563080677425,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19290608041430993,
+              -0.0884264962945818,
+              0.7565863580295538
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+            "gripper_position": [
+              0.1983478987439155,
+              -0.10121629668035405,
+              1.016865526144085
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+              0.012789800385772251,
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+              -0.09633648490185694,
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+            "held_minus_target": [
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+              0.258100466993749
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+            "held_minus_gripper": [
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+              0.004879811778497112,
+              -0.0021787011207823337
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+            "xy_dist": 0.013899366195633932,
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+            "held_gripper_dist": 0.007633978884606944,
+            "max_held_gripper_dist": 0.007745657038160051,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865863580295538,
+            "gripper_z": 1.016865526144085,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.62503395025209,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.6993070965785896,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.835641227374176,
+            "max_source_tilt_deg": 89.53339171391416,
+            "source_upright_tilt_deg": 2.9278677945883573,
+            "max_source_upright_tilt_deg": 89.86611817752254,
+            "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": 2.835641227374176,
+            "source_upright_return_tilt_deg": 2.9278677945883573,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.900105356046816e-08,
+            "max_target_xy_drift": 5.999840588941507e-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": 0.039564667098811346,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.00013353303687721425,
+            "max_target_tilt_deg": 0.0004740858301020051,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1929,
+                -0.0884,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.1929,
+                -0.0884,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0,
+                -0.0005
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+              "controller_last_pour_pose_position": [
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+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+            },
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
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+      },
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+      }
+    },
+    {
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+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
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+            "target": "heater_platform",
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+              0.8470194111357744
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+              0.31522598413420033,
+              -0.3024941322869562,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18423634814676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194111357744,
+            "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": 0.07537329943473714,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 4.148295970114022,
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+            "object_axis_flip_tolerance_deg": 3.0,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074686408042907715,
+            "max_z_decrease": 0.0074686408042907715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501948203048817,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074686408042907715,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0210455150614309,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074686408042907715,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007469105346800655,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17092591524124146,
+              -0.3587555885314941,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17092591524124146,
+              -0.3587555885314941,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17105297319545076,
+              -0.35808205505576357,
+              0.8046127800750084
+            ],
+            "closest_button": [
+              0.17082782089710236,
+              -0.3587744832038879,
+              0.7696008682250977
+            ],
+            "closest_ee_minus_button": [
+              0.00022515229834840778,
+              0.0006924281481243133,
+              0.035011911849910704
+            ],
+            "button_min_z_position": [
+              0.17084461450576782,
+              -0.3587737381458282,
+              0.7693402171134949
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+            "min_active_finger_to_button": 0.145400242926974,
+            "closest_active_finger": [
+              0.044675931334495544,
+              -0.4221648871898651,
+              0.8108966946601868
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+            "closest_active_finger_button": [
+              0.17093104124069214,
+              -0.35876566171646107,
+              0.7765249609947205
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1262551099061966,
+              -0.06339922547340404,
+              0.03437173366546631
+            ],
+            "min_contact_pad_to_button": 0.0210455150614309,
+            "closest_contact_pad": [
+              0.1708340048789978,
+              -0.35915786804413113,
+              0.790581458621088
+            ],
+            "closest_contact_pad_button": [
+              0.1708340048789978,
+              -0.3587755858898162,
+              0.7695394158363342
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00038228215431496126,
+              0.021042042784753745
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da7c84975c4bab87ad8d0d49fb78931eca5032992f39ff72d58b1a657373d3fb",
+    "visual_seed": 2106886455562462412,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b02af622afc5befef090912ff5dc93c8faeaae0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_53_success.json
@@ -0,0 +1,1682 @@
+{
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+  "success": true,
+  "passed_steps": 6,
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+  "step_accuracy": "6/6",
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+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8169778308068507,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007220208644866943,
+            "max_z_decrease": 0.007220208644866943,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507703281673794,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007220208644866943,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106466955108477,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007220208644866943,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007220586694118893,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16762122511863708,
+              -0.360464721918106,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16762122511863708,
+              -0.360464721918106,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16583500952097893,
+              -0.35878818887032665,
+              0.8056073583311266
+            ],
+            "closest_button": [
+              0.16754920780658722,
+              -0.36047929525375366,
+              0.7706130743026733
+            ],
+            "closest_ee_minus_button": [
+              -0.0017141982856082871,
+              0.0016911063834270101,
+              0.03499428402845328
+            ],
+            "button_min_z_position": [
+              0.16754911839962006,
+              -0.3604808449745178,
+              0.7695886492729187
+            ],
+            "min_active_finger_to_button": 0.1467829134482634,
+            "closest_active_finger": [
+              0.03816232085227966,
+              -0.42047351598739624,
+              0.8105919361114502
+            ],
+            "closest_active_finger_button": [
+              0.16761918365955353,
+              -0.36047437787055964,
+              0.7761499881744385
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12945686280727386,
+              -0.0599991381168366,
+              0.03444194793701172
+            ],
+            "min_contact_pad_to_button": 0.02106466955108477,
+            "closest_contact_pad": [
+              0.16754911839962006,
+              -0.3604808449745178,
+              0.7906533188240035
+            ],
+            "closest_contact_pad_button": [
+              0.16754911839962006,
+              -0.3604808449745178,
+              0.7695886492729187
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106466955108477
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58ff1d0e17e5279e98d76a2079520188a8b716b9fb6a79b7009fc855aeebb3cc",
+    "visual_seed": 8617796607468236103,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34de7dac75230ce9b5d68dbda68b83ae849831bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_54_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2463596397310503,
+              0.21213224536205447,
+              1.0006146752512333
+            ],
+            "current_z": 1.0006146752512333,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.13950786921324343,
+            "gripper_z": 1.003064399140098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24111545260126416,
+              0.20733466522742044,
+              1.003064399140098
+            ],
+            "object_minus_gripper": [
+              0.0052441871297861375,
+              0.004797580134634022,
+              -0.0024497238888647743
+            ],
+            "object_to_gripper_xy": 0.007107620825596254,
+            "object_to_gripper_z": -0.0024497238888647743,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2463596397310503,
+              0.1873697303953528,
+              1.0006146752512333
+            ],
+            "finger_b": [
+              0.23495936951164012,
+              0.21213224536205447,
+              1.0006146752512333
+            ],
+            "finger_midpoint": [
+              0.24065950462134522,
+              0.19975098787870363,
+              1.0006146752512333
+            ],
+            "object_minus_finger_midpoint": [
+              0.005700135109705073,
+              0.012381257483350838,
+              0.0
+            ],
+            "finger_gap": 0.027260746661668955,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013630373330834472,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0006146752512333,
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+            "finger_top_clearance": 0.05000442833731311,
+            "fingertip_min_top_clearance": 0.015001328501193949,
+            "object_projection_between_fingers": 0.8251140995949265,
+            "object_to_finger_line_xy": 0.01035552567345948,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047746616497199496,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.12164973582295158,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 156,
+            "max_stable_success_frames": 156,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1de4aa3cf21e1f9642625668ff2b6f163a07dc0adfb06dafbf4c1c6351f3cf9",
+    "visual_seed": 4437154735078501844,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..616c6e0ee2693fd24ef2cf9273d07c10793f7b9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_55_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2451965742881987,
+              0.20904121337181397,
+              1.0004186068095178
+            ],
+            "current_z": 1.0004186068095178,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.13931209879475182,
+            "gripper_z": 1.0025734420714982,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2401289505270769,
+              0.20418596491016494,
+              1.0025734420714982
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+            "object_minus_gripper": [
+              0.005067623761121798,
+              0.004855248461649031,
+              -0.002154835261980459
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+            "object_to_gripper_xy": 0.007018137089615129,
+            "object_to_gripper_z": -0.002154835261980459,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2451965742881987,
+              0.1846454799159683,
+              1.0004186068095178
+            ],
+            "finger_b": [
+              0.23329735574578814,
+              0.20904121337181397,
+              1.0004186068095178
+            ],
+            "finger_midpoint": [
+              0.2392469650169934,
+              0.19684334664389114,
+              1.0004186068095178
+            ],
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+              0.005949609271205275,
+              0.012197866727922835,
+              0.0
+            ],
+            "finger_gap": 0.027143014069345998,
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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": 0.8078144467894857,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047776330851461685,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1946825668292746,
+              -0.09140510158862122,
+              0.7565863602659597
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+            "gripper_position": [
+              0.2013491616533148,
+              -0.10567454333176,
+              1.0171610583018083
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+            "target_minus_gripper": [
+              -0.006666594824040195,
+              0.01426944174313878,
+              -0.26057469803584854
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+            "held_position": [
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+              -0.10094060037894666,
+              1.014970084640107
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+            "held_minus_target": [
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+              -0.009535498790325433,
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+            "held_minus_gripper": [
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+              0.004733942952813347,
+              -0.002190973661701179
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+            "held_xy_dist": 0.015174645075192091,
+            "held_gripper_dist": 0.007321730340877089,
+            "max_held_gripper_dist": 0.007439954634074432,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7565863602659597,
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+            "gripper_z": 1.0171610583018083,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.46120503282016,
+            "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_tilt_deg": 2.8279144391877216,
+            "max_source_tilt_deg": 89.81887365820572,
+            "source_upright_tilt_deg": 2.8392179486739835,
+            "max_source_upright_tilt_deg": 89.58547643978302,
+            "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": 2.8279144391877216,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.5752563522435086e-07,
+            "max_target_xy_drift": 8.498257533849078e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
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+            "target_start_tilt_deg": 0.03956463808139599,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 3.7136700158359355e-05,
+            "max_target_tilt_deg": 0.0006057378112781767,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1947,
+                -0.0914,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0914,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
+              ],
+              "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": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
+                  0.0
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                "position_threshold_m": 0.015,
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6260732412338257
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
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+            ],
+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              -0.0019,
+              -0.0
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.1185,
+              1.0218
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
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+                "fr3_joint7",
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+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3275684461959131,
+              -0.3045117190862169,
+              0.8470192164414834
+            ],
+            "target_position": [
+              0.32162072928768354,
+              -0.3040604585890377,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005964811183663232,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18664884690735603,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470192164414834,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529954495527666,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08673890473591454,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15510971025903064,
+            "release_required_pad_clearance": 0.053369452367957274,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.753852875460795,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00741809606552124,
+            "max_z_decrease": 0.00741809606552124,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034980825454542654,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00741809606552124,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021323737228026902,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00741809606552124,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074189509688861455,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17732065916061396,
+              -0.36032190918922424,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17732065916061396,
+              -0.36032190918922424,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1766299783136572,
+              -0.3607233330818532,
+              0.8047902592120356
+            ],
+            "closest_button": [
+              0.17749901115894315,
+              -0.36028203368186945,
+              0.7698230147361755
+            ],
+            "closest_ee_minus_button": [
+              -0.0008690328452859442,
+              -0.00044129939998377443,
+              0.03496724447586008
+            ],
+            "button_min_z_position": [
+              0.1772096008062362,
+              -0.36034062504768366,
+              0.7693907618522644
+            ],
+            "min_active_finger_to_button": 0.14661268141285805,
+            "closest_active_finger": [
+              0.036022961139678955,
+              -0.3430725932121277,
+              0.8080127239227295
+            ],
+            "closest_active_finger_button": [
+              0.1773428320884704,
+              -0.3603318333625793,
+              0.7729971408843994
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14131987094879145,
+              0.017259240150451605,
+              0.03501558303833008
+            ],
+            "min_contact_pad_to_button": 0.021323737228026902,
+            "closest_contact_pad": [
+              0.17749901115894315,
+              -0.36206680638516886,
+              0.7910719289617895
+            ],
+            "closest_contact_pad_button": [
+              0.17749901115894315,
+              -0.36028203368186945,
+              0.7698230147361755
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017847727032994087,
+              0.021248914225613924
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c182083b113bb43a13a52dfe7f003077b4024dcb4413e1d18634b46ea0147b8",
+    "visual_seed": 2248493720249881512,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..642ca40bbd5dcbe96929c0284ba3e94ee2574e3e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_57_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24938137870211374,
+              0.2165823640882704,
+              1.0035614628221805
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+            "current_z": 1.0035614628221805,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.1424550740167042,
+            "gripper_z": 1.0056912238393325,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24416135125054475,
+              0.21157327274863896,
+              1.0056912238393325
+            ],
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+              0.005220027451568993,
+              0.005009091339631427,
+              -0.00212976101715201
+            ],
+            "object_to_gripper_xy": 0.007234616965942595,
+            "object_to_gripper_z": -0.00212976101715201,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24938137870211374,
+              0.19218395172770378,
+              1.0035614628221805
+            ],
+            "finger_b": [
+              0.23712712515198225,
+              0.2165823640882704,
+              1.0035614628221805
+            ],
+            "finger_midpoint": [
+              0.243254251927048,
+              0.20438315790798708,
+              1.0035614628221805
+            ],
+            "object_minus_finger_midpoint": [
+              0.006127126775065744,
+              0.012199206180283306,
+              0.0
+            ],
+            "finger_gap": 0.02730291661685908,
+            "fingertip_max_gap": 0.09072431456824481,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0035614628221805,
+            "object_top_z": 1.0535496341079211,
+            "finger_top_clearance": 0.049988171285740624,
+            "fingertip_min_top_clearance": 0.014996451385722153,
+            "object_projection_between_fingers": 0.79855539608482,
+            "object_to_finger_line_xy": 0.010950637086970704,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786215728412241,
+            "require_object_upright": true,
+            "object_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": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00736236572265625,
+            "max_z_decrease": 0.00736236572265625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350055648693897,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00736236572265625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021110943340414686,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00736236572265625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007362729384282777,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1727110892534256,
+              -0.36542952060699463,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1727110892534256,
+              -0.36542952060699463,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17223066294474879,
+              -0.3647615639625473,
+              0.8058345694402618
+            ],
+            "closest_button": [
+              0.17262907326221463,
+              -0.36544287204742426,
+              0.7708379030227661
+            ],
+            "closest_ee_minus_button": [
+              -0.0003984103174658471,
+              0.0006813080848769859,
+              0.03499666641749566
+            ],
+            "button_min_z_position": [
+              0.17263872921466827,
+              -0.3654404282569885,
+              0.7694464921951294
+            ],
+            "min_active_finger_to_button": 0.1461420051222504,
+            "closest_active_finger": [
+              0.04487282782793045,
+              -0.42721766233444214,
+              0.8108736276626587
+            ],
+            "closest_active_finger_button": [
+              0.17272083461284632,
+              -0.3654413521289825,
+              0.7762895226478577
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12784800678491587,
+              -0.06177631020545965,
+              0.034584105014801025
+            ],
+            "min_contact_pad_to_button": 0.021110943340414686,
+            "closest_contact_pad": [
+              0.17263872921466827,
+              -0.3660309165563974,
+              0.7905491757280467
+            ],
+            "closest_contact_pad_button": [
+              0.17263872921466827,
+              -0.3654404282569885,
+              0.7694464921951294
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005904882994088867,
+              0.021102683532917332
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db627107b807465ba99686d7041deed7d04c64ccfb7e75ce185fd2cd3dc1f74b",
+    "visual_seed": 6231335229541606236,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..278287aa31dfa1c5f5b2345f85ea8b406d29e37a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_58_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24373791360685754,
+              0.2170031812643239,
+              1.002870864223989
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+            "current_z": 1.002870864223989,
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+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.14176423699993346,
+            "gripper_z": 1.0050041424241611,
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+            "gripper_position": [
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+              0.21211101707543822,
+              1.0050041424241611
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+              0.005246733240955648,
+              0.004892164188885689,
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+            "object_to_gripper_z": -0.002133278200172173,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24373791360685754,
+              0.192403811046425,
+              1.002870864223989
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+            "finger_b": [
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+              0.2170031812643239,
+              1.002870864223989
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+              0.23782654362251235,
+              0.20470349615537448,
+              1.002870864223989
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+              0.012299685108949437,
+              0.0
+            ],
+            "finger_gap": 0.027292969708049734,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010655929369019443,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565862673952297
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+              -0.10067775200944015,
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+            "wrist_idx": 5,
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+            "max_wrist_deg": 120.36502230892805,
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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": 89.77106338083745,
+            "source_upright_tilt_deg": 2.595867670055242,
+            "max_source_upright_tilt_deg": 89.61325662655076,
+            "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": 2.759597374814773,
+            "source_upright_return_tilt_deg": 2.595867670055242,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.992620956463233e-07,
+            "max_target_xy_drift": 1.3317275791684034e-06,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.03956411574585628,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 1.2194326777763662e-05,
+            "max_target_tilt_deg": 0.000647946702005487,
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+                "fr3_leftfinger",
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+                "gripper",
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+                "wrist",
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+                "wrist_2_joint",
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+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "233e7d1ec028dcfb1bd8cd2c6e68fad4e11f8c24a84f1130fa528fd445084156",
+    "visual_seed": 3798197605862471165,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ef0b1575234f9c8b83490ab246fd27f84f6ea73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_59_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.21079700366979282,
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+              0.005055335724492738,
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+              1.0004193301952546
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+              0.20361618490476752,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+        },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              -0.09714983070923558,
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+            "valid_pour_pose_frames": 0,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              0.320213742155824,
+              -0.3089853611612783,
+              0.8470187630825327
+            ],
+            "target_position": [
+              0.31326164554687375,
+              -0.30760156075608996,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007088480148916043,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18419200823966606,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470187630825327,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514088156075693,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616438086443555,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15287228102749767,
+            "release_required_pad_clearance": 0.05308219043221778,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.186278047579185,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074533820152282715,
+            "max_z_decrease": 0.0074533820152282715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502835971770795,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074533820152282715,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02104756103534111,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074533820152282715,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007453936830730417,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16896156966686243,
+              -0.3638630211353301,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16896156966686243,
+              -0.3638630211353301,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1688517422148716,
+              -0.3625040340622708,
+              0.8051752646236017
+            ],
+            "closest_button": [
+              0.16887094080448145,
+              -0.36387902498245234,
+              0.7701739072799683
+            ],
+            "closest_ee_minus_button": [
+              -1.9198589609858985e-05,
+              0.0013749909201815624,
+              0.03500135734363341
+            ],
+            "button_min_z_position": [
+              0.16887243092060084,
+              -0.36388105154037464,
+              0.7693554759025574
+            ],
+            "min_active_finger_to_button": 0.1454044090635099,
+            "closest_active_finger": [
+              0.04179121553897858,
+              -0.4253928065299988,
+              0.8109862208366394
+            ],
+            "closest_active_finger_button": [
+              0.16896665096282953,
+              -0.36387228965759266,
+              0.7765758037567139
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12717543542385096,
+              -0.06152051687240612,
+              0.03441041707992554
+            ],
+            "min_contact_pad_to_button": 0.02104756103534111,
+            "closest_contact_pad": [
+              0.16887243092060084,
+              -0.36388105154037464,
+              0.7904030369378985
+            ],
+            "closest_contact_pad_button": [
+              0.16887243092060084,
+              -0.36388105154037464,
+              0.7693554759025574
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02104756103534111
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b76626332e703839e160312f6908ded515db391780195dfc469e15f38293d3d",
+    "visual_seed": 383175434882091499,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b6bde77fee8a722f7661f4d7a6c0e950e05905e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_5_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24744815919192015,
+              0.21099820913572445,
+              1.0016236977891535
+            ],
+            "current_z": 1.0016236977891535,
+            "required_z": 0.8611068656426348,
+            "initial_z": 0.7611068656426349,
+            "lift_margin": 0.14051683214651867,
+            "gripper_z": 1.0039130604345445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24205636837947553,
+              0.2061018982463556,
+              1.0039130604345445
+            ],
+            "object_minus_gripper": [
+              0.005391790812444619,
+              0.004896310889368843,
+              -0.0022893626453910354
+            ],
+            "object_to_gripper_xy": 0.007283218278379011,
+            "object_to_gripper_z": -0.0022893626453910354,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24744815919192015,
+              0.1861367059064063,
+              1.0016236977891535
+            ],
+            "finger_b": [
+              0.23585194465243095,
+              0.21099820913572445,
+              1.0016236977891535
+            ],
+            "finger_midpoint": [
+              0.24165005192217553,
+              0.19856745752106536,
+              1.0016236977891535
+            ],
+            "object_minus_finger_midpoint": [
+              0.005798107269744612,
+              0.012430751614659091,
+              0.0
+            ],
+            "finger_gap": 0.027432946149971892,
+            "fingertip_max_gap": 0.0907594917582466,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013716473074985965,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0016236977891535,
+            "object_top_z": 1.0517313962738144,
+            "finger_top_clearance": 0.0501076984846609,
+            "fingertip_min_top_clearance": 0.015032309545398286,
+            "object_projection_between_fingers": 0.8213152120283245,
+            "object_to_finger_line_xy": 0.010509236727447609,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478797458791233,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3077026613591813,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12919034808874127,
+              -0.06035208702087402,
+              0.034522831439971924
+            ],
+            "min_contact_pad_to_button": 0.02107031280392535,
+            "closest_contact_pad": [
+              0.17029704153537745,
+              -0.3663676977157593,
+              0.7911935561358345
+            ],
+            "closest_contact_pad_button": [
+              0.17029704153537745,
+              -0.3663676977157593,
+              0.7701232433319092
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107031280392535
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59e43ba315e68fde9ca1cc7f8f0017a26fc47ecf021761cac3a20ccd4cb18a41",
+    "visual_seed": 3249044011653057752,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..635cbdd274d87b16e6615581727363f41f0f6719
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_60_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24180070849072446,
+              0.2184269460618764,
+              0.9996212657668964
+            ],
+            "current_z": 0.9996212657668964,
+            "required_z": 0.8611069252472796,
+            "initial_z": 0.7611069252472796,
+            "lift_margin": 0.13851434051961675,
+            "gripper_z": 1.0021390371994168,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23668185434548158,
+              0.21356468670387352,
+              1.0021390371994168
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+              0.005118854145242879,
+              0.004862259358002885,
+              -0.0025177714325204104
+            ],
+            "object_to_gripper_xy": 0.007060044888296167,
+            "object_to_gripper_z": -0.0025177714325204104,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24180070849072446,
+              0.19397262286982556,
+              0.9996212657668964
+            ],
+            "finger_b": [
+              0.22990383675071546,
+              0.2184269460618764,
+              0.9996212657668964
+            ],
+            "finger_midpoint": [
+              0.23585227262071995,
+              0.20619978446585097,
+              0.9996212657668964
+            ],
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+              0.005948435870004515,
+              0.012227161596025438,
+              0.0
+            ],
+            "finger_gap": 0.02719465903407323,
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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": 0.010698054575350223,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790623146354683,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1111919148087308,
+            "object_max_tilt_deg": 15.0,
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19212849231508897,
+              -0.08698130562058845,
+              0.7565863066546933
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+            "gripper_position": [
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+              -0.10039865150099157,
+              1.0161667916859258
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+              0.013417345880403123,
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+              -0.09574769939153818,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004650952109453391,
+              -0.0025507302838465584
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+            "held_gripper_dist": 0.007473195169396136,
+            "max_held_gripper_dist": 0.007630125740429297,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863066546933,
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+            "gripper_z": 1.0161667916859258,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.80620471798667,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8274855630196223,
+            "max_source_tilt_deg": 89.57184148968066,
+            "source_upright_tilt_deg": 3.0146120715948195,
+            "max_source_upright_tilt_deg": 89.91698199400331,
+            "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": 2.8274855630196223,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.800344842325395e-07,
+            "max_target_xy_drift": 9.590626547246438e-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": 0.03955479799740455,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.00032911174555776287,
+            "max_target_tilt_deg": 0.0007431774698424098,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1921,
+                -0.087,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.087,
+                0.7566
+              ],
+              "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,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_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
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32129701287599977,
+              -0.3034530188042138,
+              0.8470201554717283
+            ],
+            "target_position": [
+              0.3148502471855968,
+              -0.30332703849425297,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064479965032136,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1877721461648865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201554717283,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754231668419746,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665759616007095,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15592710883130628,
+            "release_required_pad_clearance": 0.053328798080035475,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.673932777967332,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074394941329956055,
+            "max_z_decrease": 0.0074394941329956055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350383791160203,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074394941329956055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021018845371550025,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074394941329956055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007440142806369173,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17055016756057742,
+              -0.35958850383758545,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17055016756057742,
+              -0.35958850383758545,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17069160989431742,
+              -0.35929471590670087,
+              0.8044055505493715
+            ],
+            "closest_button": [
+              0.17045350372791296,
+              -0.3596060574054718,
+              0.76936936378479
+            ],
+            "closest_ee_minus_button": [
+              0.00023810616640446147,
+              0.000311341498770934,
+              0.03503618676458142
+            ],
+            "button_min_z_position": [
+              0.17045350372791296,
+              -0.3596060574054718,
+              0.76936936378479
+            ],
+            "min_active_finger_to_button": 0.1454994907153349,
+            "closest_active_finger": [
+              0.04480847716331482,
+              -0.4242806136608124,
+              0.8108503818511963
+            ],
+            "closest_active_finger_button": [
+              0.17055389285087588,
+              -0.3595978319644928,
+              0.776581883430481
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12574541568756106,
+              -0.06468278169631958,
+              0.03426849842071533
+            ],
+            "min_contact_pad_to_button": 0.021018845371550025,
+            "closest_contact_pad": [
+              0.17045350372791296,
+              -0.3602745040564476,
+              0.7903775774125102
+            ],
+            "closest_contact_pad_button": [
+              0.17045350372791296,
+              -0.3596060574054718,
+              0.76936936378479
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000668446650975818,
+              0.021008213627720207
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6199c725d8059e5a33c20692e62560e38dd633e881dff1a208a5e3896e71bb0e",
+    "visual_seed": 1117562456365442749,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..398cab2a57306e165f9204473b1947ba490ac00a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_61_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24850235524823355,
+              0.21099793713287623,
+              1.0032037929349662
+            ],
+            "current_z": 1.0032037929349662,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14209734452484502,
+            "gripper_z": 1.0053546607096169,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24309732178586663,
+              0.20607921904664367,
+              1.0053546607096169
+            ],
+            "object_minus_gripper": [
+              0.005405033462366926,
+              0.004918718086232565,
+              -0.0021508677746506777
+            ],
+            "object_to_gripper_xy": 0.00730808965059526,
+            "object_to_gripper_z": -0.0021508677746506777,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24850235524823355,
+              0.1862123082482587,
+              1.0032037929349662
+            ],
+            "finger_b": [
+              0.2367278971303173,
+              0.21099793713287623,
+              1.0032037929349662
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007186710834503174,
+            "max_z_decrease": 0.007186710834503174,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035002402859582255,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007186710834503174,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02126991714403909,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007186710834503174,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007187467164920306,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17402593791484827,
+              -0.3593260049819945,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17402593791484827,
+              -0.3593260049819945,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17518046328927986,
+              -0.3594366898323709,
+              0.8054510497421443
+            ],
+            "closest_button": [
+              0.17396664619445795,
+              -0.35933607816696156,
+              0.7704698443412781
+            ],
+            "closest_ee_minus_button": [
+              0.0012138170948219063,
+              -0.00010061166540936695,
+              0.034981205400866244
+            ],
+            "button_min_z_position": [
+              0.17392300069332123,
+              -0.35934260487556446,
+              0.7696221470832825
+            ],
+            "min_active_finger_to_button": 0.14482516732026327,
+            "closest_active_finger": [
+              0.0345475971698761,
+              -0.3421720564365387,
+              0.8080471158027649
+            ],
+            "closest_active_finger_button": [
+              0.17405191063880915,
+              -0.35933750867843617,
+              0.7731440663337708
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13950431346893305,
+              0.017165452241897472,
+              0.03490304946899414
+            ],
+            "min_contact_pad_to_button": 0.02126991714403909,
+            "closest_contact_pad": [
+              0.17396664619445795,
+              -0.36073312708297556,
+              0.7916938314700094
+            ],
+            "closest_contact_pad_button": [
+              0.17396664619445795,
+              -0.35933607816696156,
+              0.7704698443412781
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013970489160139987,
+              0.021223987128731303
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b75f480fec4045637a1ee15ad56770d136f228199bd2cda2dd6bd7cecb94ca2",
+    "visual_seed": 8111442989951360241,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89da6d2b899e6ca41ead8b3bbf6abec89f6b239
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_62_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.25013781025749393,
+              0.2148189064970978,
+              1.0005736243386576
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+            "current_z": 1.0005736243386576,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.13946711632389164,
+            "gripper_z": 1.002635876851133,
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+            "gripper_position": [
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+              0.20991608614077256,
+              1.002635876851133
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+              0.005445117523051907,
+              0.004902820356325249,
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+            "object_to_gripper_z": -0.002062252512475382,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.25013781025749393,
+              0.18989551030889482,
+              1.0005736243386576
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+            "finger_b": [
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+              0.2148189064970978,
+              1.0005736243386576
+            ],
+            "finger_midpoint": [
+              0.2443252072780438,
+              0.2023572084029963,
+              1.0005736243386576
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012461698094101498,
+              0.0
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+            "finger_gap": 0.027501292535824246,
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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": 0.010535490777595432,
+            "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,
+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.08743007130561495,
+              0.7565863888516137
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+            "target_minus_gripper": [
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+              0.00475926051213986,
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+            "xy_dist": 0.014972333195531477,
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+            "held_gripper_dist": 0.007595316371397216,
+            "max_held_gripper_dist": 0.007696285567287085,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863888516137,
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+            "required_height": 0.7865863888516137,
+            "gripper_z": 1.0160336332617181,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.70183942746888,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.791891927484104,
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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e56189c1a2d4a8251be717a92f50d857eb9c3572469c6a7b76f3cac03a9d68d",
+    "visual_seed": 2977034826316334215,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad903d1faa835b86d2dce8cc542372b2b1aa6b84
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_63_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+              0.1911209842229621,
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+              1.0023081453821503
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+              0.20350596054541126,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "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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+            "pour_controller_resolved_tilt_axis_world": null,
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_wrist_compensated_return_position": -1.622288703918457,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3246916366747833,
+              -0.31004045837041855,
+              0.847019500306676
+            ],
+            "target_position": [
+              0.3183113004419958,
+              -0.31005231088373597,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006380347241764581,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18604052357368833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847019500306676,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08800165575118489,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353932711324927,
+            "release_required_pad_clearance": 0.05400082787559245,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0127236101345933,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007503092288970947,
+            "max_z_decrease": 0.007503092288970947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500135295773244,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007503092288970947,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021224959167522386,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007503092288970947,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007503428177464897,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17401123046875,
+              -0.36631375551223744,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17401123046875,
+              -0.36631375551223744,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17397880834935814,
+              -0.3674985879070848,
+              0.8042872433413879
+            ],
+            "closest_button": [
+              0.1739404946565628,
+              -0.3663198351860045,
+              0.7693057656288147
+            ],
+            "closest_ee_minus_button": [
+              3.831369279533314e-05,
+              -0.0011787527210802562,
+              0.034981477712573206
+            ],
+            "button_min_z_position": [
+              0.1739404946565628,
+              -0.3663198351860045,
+              0.7693057656288147
+            ],
+            "min_active_finger_to_button": 0.14579525643131674,
+            "closest_active_finger": [
+              0.033197782933712006,
+              -0.351326048374176,
+              0.808460533618927
+            ],
+            "closest_active_finger_button": [
+              0.1740218847990036,
+              -0.36632555723190297,
+              0.7738217711448669
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1408241018652916,
+              0.01499950885772694,
+              0.03463876247406006
+            ],
+            "min_contact_pad_to_button": 0.021224959167522386,
+            "closest_contact_pad": [
+              0.1739404946565628,
+              -0.36868776070176934,
+              0.7903982244806125
+            ],
+            "closest_contact_pad_button": [
+              0.1739404946565628,
+              -0.3663198351860045,
+              0.7693057656288147
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023679255157648127,
+              0.02109245885179778
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1881fcf7356531314f37eed19da9aec18d7464493c74f0bd4d3ae354bdd0120a",
+    "visual_seed": 8125825206208654668,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6d91bb844d75c7a7b08cbdc12fba2345ffde9c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_65_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.21256663585188224,
+              1.0030399733054745
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+            "lift_margin": 0.14193340568606372,
+            "gripper_z": 1.0053366827072159,
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+            "gripper_position": [
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+              0.2075575989571306,
+              1.0053366827072159
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+              0.005348024559558878,
+              0.005009036894751628,
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+            "object_to_gripper_z": -0.002296709401741426,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2503909544550923,
+              0.1879789108996285,
+              1.0030399733054745
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+            "finger_b": [
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+              0.21256663585188224,
+              1.0030399733054745
+            ],
+            "finger_midpoint": [
+              0.24431626619258784,
+              0.2002727733757554,
+              1.0030399733054745
+            ],
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+              0.006074688262504457,
+              0.012293862476126849,
+              0.0
+            ],
+            "finger_gap": 0.02742560060006196,
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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": 1.0530566820788172,
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+            "object_to_finger_line_xy": 0.010892214638960842,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794201593161018,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.19937561488694105,
+            "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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+            "button_final_displacement": 5.960464477539063e-08,
+            "button_max_displacement": 0.0074871775074678805,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17512115836143485,
+              -0.3647191226482391,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17512115836143485,
+              -0.3647191226482391,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.1756540819261224,
+              -0.3637472183514988,
+              0.8051644824065514
+            ],
+            "closest_button": [
+              0.17503312230110163,
+              -0.3647323250770568,
+              0.770162045955658
+            ],
+            "closest_ee_minus_button": [
+              0.0006209596250207616,
+              0.0009851067255579604,
+              0.035002436450893404
+            ],
+            "button_min_z_position": [
+              0.1750559508800506,
+              -0.36473345756530756,
+              0.7693219780921936
+            ],
+            "min_active_finger_to_button": 0.14505895802359323,
+            "closest_active_finger": [
+              0.04895075410604477,
+              -0.4273907542228699,
+              0.8107153177261353
+            ],
+            "closest_active_finger_button": [
+              0.17512975633144373,
+              -0.36472949385642994,
+              0.7761533856391907
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12617900222539896,
+              -0.06266126036643993,
+              0.03456193208694458
+            ],
+            "min_contact_pad_to_button": 0.02110376215632116,
+            "closest_contact_pad": [
+              0.1750559508800506,
+              -0.36486538246139494,
+              0.7904253278967238
+            ],
+            "closest_contact_pad_button": [
+              0.1750559508800506,
+              -0.36473345756530756,
+              0.7693219780921936
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00013192489608737645,
+              0.021103349804530214
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1820295023a27502cd965dc6754a515e01681bb77dd4123951cafde97d083211",
+    "visual_seed": 6611877861369659230,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b75521164157523c63d5ab96f8a45bfcd6ddce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_66_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24742177555511605,
+              0.2155928744401358,
+              1.0026818758272886
+            ],
+            "current_z": 1.0026818758272886,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14157530820787778,
+            "gripper_z": 1.0051260209845607,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24225746793041586,
+              0.2107032089373192,
+              1.0051260209845607
+            ],
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+              0.005164307624700187,
+              0.004889665502816609,
+              -0.002444145157272093
+            ],
+            "object_to_gripper_xy": 0.007111884558397394,
+            "object_to_gripper_z": -0.002444145157272093,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24742177555511605,
+              0.19108939298137614,
+              1.0026818758272886
+            ],
+            "finger_b": [
+              0.23554732822966037,
+              0.2155928744401358,
+              1.0026818758272886
+            ],
+            "finger_midpoint": [
+              0.2414845518923882,
+              0.20334113371075596,
+              1.0026818758272886
+            ],
+            "object_minus_finger_midpoint": [
+              0.005937223662727836,
+              0.012251740729379845,
+              0.0
+            ],
+            "finger_gap": 0.02722908560500701,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0026818758272886,
+            "object_top_z": 1.0527928490007057,
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+            "fingertip_min_top_clearance": 0.015033291952025117,
+            "object_projection_between_fingers": 0.8098218159962978,
+            "object_to_finger_line_xy": 0.01068582706349924,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047754097188555916,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.36114006327088033,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18597966070000527,
+              -0.08938084137978393,
+              0.7565864417891823
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+            "gripper_position": [
+              0.19149636304059045,
+              -0.1014512081570199,
+              1.0173097106689346
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+            "target_minus_gripper": [
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+              0.012070366777235969,
+              -0.2607232688797523
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+            "held_position": [
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+              -0.09676846215786675,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004682745999153151,
+              -0.0024827923778787397
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+            "xy_dist": 0.01327131338080824,
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+            "held_gripper_dist": 0.007499059663418503,
+            "max_held_gripper_dist": 0.00764090625581763,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864417891823,
+            "held_z": 1.0148269182910559,
+            "required_height": 0.7865864417891824,
+            "gripper_z": 1.0173097106689346,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.41793578442814,
+            "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": 0.418513112846639,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.787013025544429,
+            "max_source_tilt_deg": 89.80697643119802,
+            "source_upright_tilt_deg": 2.5533067856746703,
+            "max_source_upright_tilt_deg": 89.70906937550585,
+            "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": 2.787013025544429,
+            "source_upright_return_tilt_deg": 2.5533067856746703,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.3865378751601894e-07,
+            "max_target_xy_drift": 4.204992095312441e-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": 0.03956468009676415,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 8.540724147525199e-05,
+            "max_target_tilt_deg": 0.0005503284789719498,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.186,
+                -0.0894,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.186,
+                -0.0894,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0002,
+                0.0003,
+                -0.0003
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+              "controller_last_pour_pose_position": [
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+                1.0215
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0603,
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+              "height_range_1": [
+                0.3,
+                0.4
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+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
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+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint4",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32121860050485285,
+              -0.30661293498741116,
+              0.8470201433568253
+            ],
+            "target_position": [
+              0.31324876327308493,
+              -0.30628530563836526,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007976568591269703,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1884025410459867,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201433568253,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754081852611227,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556302006298909,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15649189264968563,
+            "release_required_pad_clearance": 0.05278151003149455,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6103745971838463,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007367849349975586,
+            "max_z_decrease": 0.007367849349975586,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350775494135116,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007367849349975586,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02104717104729592,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007367849349975586,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007368321898694189,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16894869506359106,
+              -0.36254677176475514,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16894869506359106,
+              -0.36254677176475514,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16825254620577204,
+              -0.36048626410643897,
+              0.804650044189858
+            ],
+            "closest_button": [
+              0.16885660588741308,
+              -0.3625633120536803,
+              0.769639253616333
+            ],
+            "closest_ee_minus_button": [
+              -0.0006040596816410393,
+              0.0020770479472413395,
+              0.035010790573524964
+            ],
+            "button_min_z_position": [
+              0.1688668727874756,
+              -0.36256316304206837,
+              0.7694410085678101
+            ],
+            "min_active_finger_to_button": 0.14554087436213342,
+            "closest_active_finger": [
+              0.04130123555660248,
+              -0.42341867089271545,
+              0.8110108375549316
+            ],
+            "closest_active_finger_button": [
+              0.16895432770252233,
+              -0.36255568265914906,
+              0.7766228914260864
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12765309214591986,
+              -0.060862988233566395,
+              0.034387946128845215
+            ],
+            "min_contact_pad_to_button": 0.02104717104729592,
+            "closest_contact_pad": [
+              0.16885660588741308,
+              -0.3625633120536803,
+              0.7906864246636289
+            ],
+            "closest_contact_pad_button": [
+              0.16885660588741308,
+              -0.3625633120536803,
+              0.769639253616333
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02104717104729592
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f2b57013c336cf944fab5989f2c924661c150ca3430f3943585cedc23af2627d",
+    "visual_seed": 7068897180784397979,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8ca6472fd784e6c6631d2a2c9740ea201a275ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_68_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074353814125061035,
+            "max_z_decrease": 0.0074353814125061035,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503647412423543,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074353814125061035,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021163152194550835,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074353814125061035,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007435863194414958,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1753366738557815,
+              -0.36349132657051075,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1753366738557815,
+              -0.36349132657051075,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17358040311324835,
+              -0.3649752447388173,
+              0.8051243742764049
+            ],
+            "closest_button": [
+              0.17524953186511985,
+              -0.3635089993476867,
+              0.7701584100723267
+            ],
+            "closest_ee_minus_button": [
+              -0.0016691287518715014,
+              -0.001466245391130605,
+              0.03496596420407827
+            ],
+            "button_min_z_position": [
+              0.17525351047515864,
+              -0.36350709199905384,
+              0.7693734765052795
+            ],
+            "min_active_finger_to_button": 0.14752444425514333,
+            "closest_active_finger": [
+              0.032611183822155,
+              -0.3495107591152191,
+              0.8090367913246155
+            ],
+            "closest_active_finger_button": [
+              0.17534552514553062,
+              -0.3635076284408568,
+              0.7744758725166321
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14273434132337562,
+              0.013996869325637706,
+              0.0345609188079834
+            ],
+            "min_contact_pad_to_button": 0.021163152194550835,
+            "closest_contact_pad": [
+              0.17525351047515864,
+              -0.36610329830493094,
+              0.790376779189073
+            ],
+            "closest_contact_pad_button": [
+              0.17525351047515864,
+              -0.36350709199905384,
+              0.7693734765052795
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025962063058770912,
+              0.021003302683793468
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b24f2264073d25d13bb24109c06d5232a539e83e1e7d4fdcc6365aa0fb4aa70",
+    "visual_seed": 2247066780455394263,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f250d5a775a3e4bf5a397888b84da5aa77341890
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_69_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24989385734643516,
+              0.2198064332134158,
+              1.0011645468304482
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+            "current_z": 1.0011645468304482,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1400579196063928,
+            "gripper_z": 1.003096286875848,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24484632016469804,
+              0.2148753843671634,
+              1.003096286875848
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+              0.005047537181737116,
+              0.004931048846252395,
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+            "object_to_gripper_xy": 0.007056406615632758,
+            "object_to_gripper_z": -0.0019317400453997546,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24989385734643516,
+              0.19554519723955024,
+              1.0011645468304482
+            ],
+            "finger_b": [
+              0.23772787486966904,
+              0.2198064332134158,
+              1.0011645468304482
+            ],
+            "finger_midpoint": [
+              0.24381086610805208,
+              0.20767581522648304,
+              1.0011645468304482
+            ],
+            "object_minus_finger_midpoint": [
+              0.006082991238383073,
+              0.012130617986932768,
+              0.0
+            ],
+            "finger_gap": 0.027140720340561503,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.7990668313151671,
+            "object_to_finger_line_xy": 0.010875237208852574,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787836524255959,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4118940064320087,
+            "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",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1884882184288799,
+              -0.09033200855409751,
+              0.7565863716956467
+            ],
+            "gripper_position": [
+              0.19476752784692575,
+              -0.10258675373391844,
+              1.0178992353358671
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+            "target_minus_gripper": [
+              -0.006279309418045859,
+              0.012254745179820933,
+              -0.26131286364022044
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+            "held_position": [
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+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98798b8249f0b4adad3d349624d45918f1aea392536c40ded66831ff2aa26988",
+    "visual_seed": 4558322306691974597,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d611e269c1647bb32da952c76bf0332adcc33d00
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_6_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24927516377858822,
+              0.21542088642374546,
+              1.0015932045352476
+            ],
+            "current_z": 1.0015932045352476,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.14048657731119218,
+            "gripper_z": 1.004077550441527,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24409263158676883,
+              0.21044563397023242,
+              1.004077550441527
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+              0.005182532191819383,
+              0.004975252453513046,
+              -0.0024843459062793283
+            ],
+            "object_to_gripper_xy": 0.007184133691366817,
+            "object_to_gripper_z": -0.0024843459062793283,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24927516377858822,
+              0.19102093435338457,
+              1.0015932045352476
+            ],
+            "finger_b": [
+              0.2370816084467463,
+              0.21542088642374546,
+              1.0015932045352476
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+            "finger_midpoint": [
+              0.24317838611266726,
+              0.20322091038856502,
+              1.0015932045352476
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+            "object_minus_finger_midpoint": [
+              0.006096777665920955,
+              0.012199976035180443,
+              0.0
+            ],
+            "finger_gap": 0.027277104917248805,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013638552458624402,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0015932045352476,
+            "object_top_z": 1.0516278821641478,
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+            "fingertip_min_top_clearance": 0.015010403288670038,
+            "object_projection_between_fingers": 0.8001684033471305,
+            "object_to_finger_line_xy": 0.01090739528871689,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047925755527169406,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24553335769565024,
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+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19070164930781566,
+              -0.09199179446368305,
+              0.7565863973449434
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+            "gripper_position": [
+              0.19607755794213264,
+              -0.10499223060116335,
+              1.0170615142611672
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+            "target_minus_gripper": [
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+              0.013000436137480295,
+              -0.2604751169162238
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+            "held_position": [
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+              -0.10028100672054846,
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+            "held_minus_target": [
+              0.010754428199466898,
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+              0.25796374273250655
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+            "held_minus_gripper": [
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+              0.004711223880614887,
+              -0.0025113741837172743
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+            "xy_dist": 0.014068110513115377,
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+            "held_gripper_dist": 0.007578331178869009,
+            "max_held_gripper_dist": 0.007728082928718044,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863973449434,
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+            "required_height": 0.7865863973449434,
+            "gripper_z": 1.0170615142611672,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.69253670981932,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.7749336110193127,
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+            "source_tilt_deg": 2.8418756173854156,
+            "max_source_tilt_deg": 89.69934317106451,
+            "source_upright_tilt_deg": 3.15747871554129,
+            "max_source_upright_tilt_deg": 89.82770568611862,
+            "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": 2.8418756173854156,
+            "source_upright_return_tilt_deg": 3.15747871554129,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.5440249423276027e-08,
+            "max_target_xy_drift": 7.11329692488031e-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": 0.039564388853163254,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 8.529621756559384e-05,
+            "max_target_tilt_deg": 0.00038891709045409323,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1907,
+                -0.092,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.092,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
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+              "source_size": [
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+                0.4
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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": {
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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": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+                "pour_pose_offset_m": [
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6309261322021484
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              -0.0003
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.1174,
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32796527899005645,
+              -0.30568175988622476,
+              0.8470194982308306
+            ],
+            "target_position": [
+              0.3202384818416807,
+              -0.30622323313701605,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077457464103513176,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18891022303144298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194982308306,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586802322809548,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08879556800995818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15612200758876268,
+            "release_required_pad_clearance": 0.05439778400497909,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.820781613717468,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007474124431610107,
+            "max_z_decrease": 0.007474124431610107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498166553801643,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007474124431610107,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021248577504073805,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007474124431610107,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007474375951257759,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1759384125471115,
+              -0.3624846935272216,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1759384125471115,
+              -0.3624846935272216,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17570405996684502,
+              -0.36279669687443084,
+              0.8060121194986536
+            ],
+            "closest_button": [
+              0.17588156461715698,
+              -0.3624871671199798,
+              0.7710322737693787
+            ],
+            "closest_ee_minus_button": [
+              -0.00017750465031196594,
+              -0.00030952975445103226,
+              0.03497984572927493
+            ],
+            "button_min_z_position": [
+              0.17587724328041074,
+              -0.3624889552593231,
+              0.7693347334861755
+            ],
+            "min_active_finger_to_button": 0.1462985030267949,
+            "closest_active_finger": [
+              0.034804441034793854,
+              -0.34613707661628723,
+              0.8076997995376587
+            ],
+            "closest_active_finger_button": [
+              0.1759570389986038,
+              -0.3624954521656036,
+              0.7728917598724365
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14115259796380994,
+              0.01635837554931635,
+              0.03480803966522217
+            ],
+            "min_contact_pad_to_button": 0.021248577504073805,
+            "closest_contact_pad": [
+              0.17587724328041074,
+              -0.3640950682158272,
+              0.7905225235341626
+            ],
+            "closest_contact_pad_button": [
+              0.17587724328041074,
+              -0.3624889552593231,
+              0.7693347334861755
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001606112956504091,
+              0.0211877900479871
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce15d71767e48cb1d4771debb03a5e159f37fa2c42b11a1c86e61704c2127136",
+    "visual_seed": 7409983372435044450,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e119948cbf1c7f29a0f05afebae7967278ce5a00
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_72_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24244653922483383,
+              0.21394642103946135,
+              1.0031443165273646
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+            "current_z": 1.0031443165273646,
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+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.14203768930330918,
+            "gripper_z": 1.0052902607450804,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2090470726877212,
+              1.0052902607450804
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+              0.005036339509336574,
+              0.004899348351740135,
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+            "object_to_gripper_z": -0.002145944217715856,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24244653922483383,
+              0.1896707786525557,
+              1.0031443165273646
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+            "finger_b": [
+              0.23035265495102927,
+              0.21394642103946135,
+              1.0031443165273646
+            ],
+            "finger_midpoint": [
+              0.23639959708793157,
+              0.20180859984600852,
+              1.0031443165273646
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+            "object_minus_finger_midpoint": [
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+              0.01213782119345283,
+              0.0
+            ],
+            "finger_gap": 0.027121372570817797,
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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": 1.0531250815599373,
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+            "object_to_finger_line_xy": 0.010824924473601184,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794088621253215,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3229217203900169,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007184743881225586,
+            "max_z_decrease": 0.007184743881225586,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350891629915245,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007184743881225586,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021074331216250686,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007184743881225586,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007185061680847938,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17428441345691686,
+              -0.36145207285881037,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17428441345691686,
+              -0.36145207285881037,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17228820274963969,
+              -0.35964525895116956,
+              0.8051810760540346
+            ],
+            "closest_button": [
+              0.1742039471864701,
+              -0.3614675402641296,
+              0.7701916694641113
+            ],
+            "closest_ee_minus_button": [
+              -0.0019157444368304022,
+              0.001822281312960028,
+              0.03498940658992322
+            ],
+            "button_min_z_position": [
+              0.17421859502792364,
+              -0.36146739125251764,
+              0.7696241140365601
+            ],
+            "min_active_finger_to_button": 0.1468488062028095,
+            "closest_active_finger": [
+              0.045471012592315674,
+              -0.42294570803642273,
+              0.8108898997306824
+            ],
+            "closest_active_finger_button": [
+              0.17428928613662725,
+              -0.3614604473114013,
+              0.776393711566925
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12881827354431158,
+              -0.06148526072502142,
+              0.034496188163757324
+            ],
+            "min_contact_pad_to_button": 0.021074331216250686,
+            "closest_contact_pad": [
+              0.17421859502792364,
+              -0.36146739125251764,
+              0.7906984452528107
+            ],
+            "closest_contact_pad_button": [
+              0.17421859502792364,
+              -0.36146739125251764,
+              0.7696241140365601
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021074331216250686
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f7729e9292be1b74296989db07824b374d455b182e2bcc84848a21622469accb",
+    "visual_seed": 3827227488113384656,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b9237ce553d01a185a33167deab9ff7cbf4c0d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_73_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2486900872357279,
+              0.21386089768879654,
+              1.0019935639949367
+            ],
+            "current_z": 1.0019935639949367,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.14088693677088104,
+            "gripper_z": 1.0043430743635948,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24360286083870605,
+              0.20903003620760763,
+              1.0043430743635948
+            ],
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+              0.00508722639702186,
+              0.004830861481188914,
+              -0.0023495103686581587
+            ],
+            "object_to_gripper_xy": 0.007015489652546767,
+            "object_to_gripper_z": -0.0023495103686581587,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2486900872357279,
+              0.18939484046072697,
+              1.0019935639949367
+            ],
+            "finger_b": [
+              0.2368942698805369,
+              0.21386089768879654,
+              1.0019935639949367
+            ],
+            "finger_midpoint": [
+              0.2427921785581324,
+              0.20162786907476177,
+              1.0019935639949367
+            ],
+            "object_minus_finger_midpoint": [
+              0.005897908677595515,
+              0.012233028614034774,
+              0.0
+            ],
+            "finger_gap": 0.02716117198068229,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0019935639949367,
+            "object_top_z": 1.0520047613493169,
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+            "object_projection_between_fingers": 0.8113924525068836,
+            "object_to_finger_line_xy": 0.010625356765503968,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779432531466778,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1721047715660167,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18890273711023262,
+              -0.08489361336571526,
+              0.7565863903935286
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+            "gripper_position": [
+              0.19532255314797076,
+              -0.09746986409616067,
+              1.0187461395989637
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+            "target_minus_gripper": [
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+              0.01257625073044541,
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+            "held_position": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004594221973470508,
+              -0.0023802306083211544
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+            "xy_dist": 0.014120060920315767,
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+            "held_gripper_dist": 0.007377098995336602,
+            "max_held_gripper_dist": 0.007515646387228301,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863903935286,
+            "held_z": 1.0163659089906425,
+            "required_height": 0.7865863903935286,
+            "gripper_z": 1.0187461395989637,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.46356827827299,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.5115938891518361,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8980291676468783,
+            "max_source_tilt_deg": 89.81979811255549,
+            "source_upright_tilt_deg": 2.9923477299772907,
+            "max_source_upright_tilt_deg": 89.98732224649441,
+            "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": 2.8980291676468783,
+            "source_upright_return_tilt_deg": 2.9923477299772907,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.6930673290651702e-08,
+            "max_target_xy_drift": 1.6930673290651702e-08,
+            "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": 0.03956468187465531,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 1.2134403433412636e-05,
+            "max_target_tilt_deg": 1.2194326777763662e-05,
+            "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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+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ccfd59dd2b56a61f49c44c0a6c99445c9f40e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_74_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
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+              0.9999173797307707
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+              0.20701921879321622,
+              1.0023362137857752
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+              0.005043983849905592,
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+            "object_to_gripper_z": -0.0024188340550045373,
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+              0.18748744984884544,
+              0.9999173797307707
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+            "finger_b": [
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+              0.2120632026431218,
+              0.9999173797307707
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+            "finger_midpoint": [
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+              0.19977532624598363,
+              0.9999173797307707
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+              0.012287876397138187,
+              0.0
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+            "stable_success_frames": 159,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+          }
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "target_position": [
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+              0.7565864280787953
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+              -0.09675128170354426,
+              1.0186022518944002
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+              0.00488021170455942,
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+            "missing_end_effector_orientation_samples": 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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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591063151553117,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09100912260444947,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15516849987346767,
+            "release_required_pad_clearance": 0.05550456130222474,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.1526335675629875,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007562577724456787,
+            "max_z_decrease": 0.007562577724456787,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035076354554686676,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007562577724456787,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021131630819334047,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007562577724456787,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007563092884868971,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16913758218288427,
+              -0.3637093901634215,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16913758218288427,
+              -0.3637093901634215,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1674740226592578,
+              -0.36534400253105276,
+              0.8053028208561283
+            ],
+            "closest_button": [
+              0.16906230151653295,
+              -0.36372530460357655,
+              0.7702998518943787
+            ],
+            "closest_ee_minus_button": [
+              -0.001588278857275166,
+              -0.0016186979274762092,
+              0.03500296896174959
+            ],
+            "button_min_z_position": [
+              0.16905078291893008,
+              -0.3637254536151885,
+              0.7692462801933289
+            ],
+            "min_active_finger_to_button": 0.14739866398687057,
+            "closest_active_finger": [
+              0.0265311598777771,
+              -0.34939414262771606,
+              0.8102812767028809
+            ],
+            "closest_active_finger_button": [
+              0.1691416203975678,
+              -0.3637227416038512,
+              0.7758819460868835
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1426104605197907,
+              0.014328598976135143,
+              0.034399330615997314
+            ],
+            "min_contact_pad_to_button": 0.021131630819334047,
+            "closest_contact_pad": [
+              0.16905078291893008,
+              -0.3665218178947327,
+              0.790192071367231
+            ],
+            "closest_contact_pad_button": [
+              0.16905078291893008,
+              -0.3637254536151885,
+              0.7692462801933289
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027963642795442167,
+              0.020945791173902162
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "214e4d63563e7f53d3c1bf7359655f554c7adc87bd32e5a44ff762c8e429e6e6",
+    "visual_seed": 5736602795584542365,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..567c3bd56dcbec78869bf6e3b2ffd6ece264f3b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_75_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24756638092214714,
+              0.20816509113269158,
+              1.002803854583937
+            ],
+            "current_z": 1.002803854583937,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14169734656917088,
+            "gripper_z": 1.0053662178367795,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24233065215873692,
+              0.2031705106223956,
+              1.0053662178367795
+            ],
+            "object_minus_gripper": [
+              0.005235728763410219,
+              0.004994580510295971,
+              -0.0025623632528424256
+            ],
+            "object_to_gripper_xy": 0.007235930497028662,
+            "object_to_gripper_z": -0.0025623632528424256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24756638092214714,
+              0.183730517119217,
+              1.002803854583937
+            ],
+            "finger_b": [
+              0.2353629634834319,
+              0.20816509113269158,
+              1.002803854583937
+            ],
+            "finger_midpoint": [
+              0.2414646722027895,
+              0.1959478041259543,
+              1.002803854583937
+            ],
+            "object_minus_finger_midpoint": [
+              0.00610170871935764,
+              0.01221728700673727,
+              0.0
+            ],
+            "finger_gap": 0.027312484405551726,
+            "fingertip_max_gap": 0.09126659815320687,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013656242202775858,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002803854583937,
+            "object_top_z": 1.0530002126179645,
+            "finger_top_clearance": 0.050196358034027444,
+            "fingertip_min_top_clearance": 0.015058907410208232,
+            "object_projection_between_fingers": 0.8003632358429128,
+            "object_to_finger_line_xy": 0.010917546064136249,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048133299076603436,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4350309918644357,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004871366044799097,
+              0.021009648038528672
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a565d5bc0f267fa22c0f0b5ecca7dd4dea3610e7087dab62e4afe08cb7373503",
+    "visual_seed": 8085730976279482548,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff4d121b332e491013c8ab02c1c3a22cbaf31e6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_76_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.2505030667907881,
+              0.21060620084816795,
+              1.002009067064194
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+            "current_z": 1.002009067064194,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14090249944478328,
+            "gripper_z": 1.0043738328247283,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24507714613061535,
+              0.20559353504602546,
+              1.0043738328247283
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+              0.005012665802142491,
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+            "object_to_gripper_xy": 0.007386977288069751,
+            "object_to_gripper_z": -0.0023647657605343486,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2505030667907881,
+              0.18592015987844526,
+              1.002009067064194
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+            "finger_b": [
+              0.23842084420626716,
+              0.21060620084816795,
+              1.002009067064194
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+            "finger_midpoint": [
+              0.24446195549852762,
+              0.1982631803633066,
+              1.002009067064194
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+              0.0060411112922604815,
+              0.012343020484861356,
+              0.0
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
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+            ],
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.08451251809078007,
+              0.7565864193634015
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+            "gripper_position": [
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+              -0.09774053297637711,
+              1.017418877168982
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+            "held_minus_target": [
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+              0.004821532716314511,
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.017418877168982,
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+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.56753058762975,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_tilt_deg": 2.810973111187524,
+            "max_source_tilt_deg": 89.99830040299315,
+            "source_upright_tilt_deg": 2.7543222113047126,
+            "max_source_upright_tilt_deg": 89.9976756697194,
+            "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": 2.810973111187524,
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+            "target_xy_drift": 4.6631742911959665e-08,
+            "max_target_xy_drift": 8.988013317282272e-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_tilt_deg": 0.0001090526652486728,
+            "max_target_tilt_deg": 0.0006057901558074983,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1916,
+                -0.0845,
+                0.7566
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+              "controller_target_position": [
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+                -0.0845,
+                0.7566
+              ],
+              "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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+              "controller_t": 0.0,
+              "source_size": [
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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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+                  4.3712551660705836e-05
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_b",
+            "pour_controller_raw_target_position": [
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3272808998199832,
+              -0.30556094797880506,
+              0.8470196875163152
+            ],
+            "target_position": [
+              0.320973356787967,
+              -0.30584612971769837,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006313986674434327,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18538059009344537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196875163152,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543356275721447,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08698797978084553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15365404584964307,
+            "release_required_pad_clearance": 0.05349398989042277,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.000292998927974,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007514595985412598,
+            "max_z_decrease": 0.007514595985412598,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501169075817432,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007514595985412598,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021263118488788705,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007514595985412598,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007515160080597063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1766732782125473,
+              -0.36210757493972767,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1766732782125473,
+              -0.36210757493972767,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17779456885224165,
+              -0.3618985252824312,
+              0.8051191732852633
+            ],
+            "closest_button": [
+              0.17662809789180758,
+              -0.3621158897876739,
+              0.7701275944709778
+            ],
+            "closest_ee_minus_button": [
+              0.0011664709604340684,
+              0.0002173645052426787,
+              0.034991578814285496
+            ],
+            "button_min_z_position": [
+              0.1765817701816559,
+              -0.36211779713630665,
+              0.769294261932373
+            ],
+            "min_active_finger_to_button": 0.144839596391111,
+            "closest_active_finger": [
+              0.050570882856845856,
+              -0.42422235012054443,
+              0.8082964420318604
+            ],
+            "closest_active_finger_button": [
+              0.17668560147285461,
+              -0.362115204334259,
+              0.7734211087226868
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12611471861600876,
+              -0.062107145786285456,
+              0.034875333309173584
+            ],
+            "min_contact_pad_to_button": 0.021263118488788705,
+            "closest_contact_pad": [
+              0.1765817701816559,
+              -0.3631368208367566,
+              0.7905329482986762
+            ],
+            "closest_contact_pad_button": [
+              0.1765817701816559,
+              -0.36211779713630665,
+              0.769294261932373
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001019023700449928,
+              0.021238686366303106
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51ba40b1251c25e63c75e3e005f7c1d08cb61e08ca2b95c5ddb8627c163aa539",
+    "visual_seed": 7531723432304854994,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..915db528ccf75617f636c2a538df3921c2d23f07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_77_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
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+              0.21210506536642607,
+              1.0023173483680572
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+            "current_z": 1.0023173483680572,
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+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1412108999579358,
+            "gripper_z": 1.0042974520171295,
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+            "gripper_position": [
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+              0.20728097251976613,
+              1.0042974520171295
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+              0.005320083692501837,
+              0.004824092846659939,
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+            "object_to_gripper_xy": 0.007181584942644595,
+            "object_to_gripper_z": -0.0019801036490723067,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2482567459268611,
+              0.18724667713125231,
+              1.0023173483680572
+            ],
+            "finger_b": [
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+              0.21210506536642607,
+              1.0023173483680572
+            ],
+            "finger_midpoint": [
+              0.2425102221680824,
+              0.19967587124883918,
+              1.0023173483680572
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+            "object_minus_finger_midpoint": [
+              0.005746523758778682,
+              0.01242919411758689,
+              0.0
+            ],
+            "finger_gap": 0.027386668415334058,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0023173483680572,
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075966715812683105,
+            "max_z_decrease": 0.0075966715812683105,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035009354197510334,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075966715812683105,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021104550290347777,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075966715812683105,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007596675333960054,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1753168255090713,
+              -0.3628405034542083,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1753168255090713,
+              -0.3628405034542083,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17692338673485963,
+              -0.3624833317787854,
+              0.8049513170825737
+            ],
+            "closest_button": [
+              0.17534574866294855,
+              -0.36284109950065613,
+              0.7699793577194214
+            ],
+            "closest_ee_minus_button": [
+              0.0015776380719110805,
+              0.0003577677218707387,
+              0.03497195936315234
+            ],
+            "button_min_z_position": [
+              0.17530936002731318,
+              -0.36284163594245905,
+              0.7692121863365173
+            ],
+            "min_active_finger_to_button": 0.14436364531331208,
+            "closest_active_finger": [
+              0.05058472603559494,
+              -0.42679131031036377,
+              0.8106667399406433
+            ],
+            "closest_active_finger_button": [
+              0.17532512545585627,
+              -0.3628512620925903,
+              0.7761361002922058
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12474039942026133,
+              -0.06394004821777349,
+              0.0345306396484375
+            ],
+            "min_contact_pad_to_button": 0.021104550290347777,
+            "closest_contact_pad": [
+              0.17534574866294855,
+              -0.36354623478413695,
+              0.7910721248965797
+            ],
+            "closest_contact_pad_button": [
+              0.17534574866294855,
+              -0.36284109950065613,
+              0.7699793577194214
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007051352834808178,
+              0.021092767177158356
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0a0f639500f1cd1fe248bf2cbdb339a3333a94fafb1eb261418fa50f8950344e",
+    "visual_seed": 6677794211077683648,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aee2f7bfb2858e9990d5b07e65b4769de401ce3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_78_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24889766757675774,
+              0.21360899180882956,
+              1.0026889405496706
+            ],
+            "current_z": 1.0026889405496706,
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+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14158243253490455,
+            "gripper_z": 1.005129782183637,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2437508294081672,
+              0.2086596205724859,
+              1.005129782183637
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+              0.005146838168590545,
+              0.004949371236343647,
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+            "object_to_gripper_xy": 0.007140463484172881,
+            "object_to_gripper_z": -0.0024408416339662953,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24889766757675774,
+              0.18923474936490123,
+              1.0026889405496706
+            ],
+            "finger_b": [
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+              0.21360899180882956,
+              1.0026889405496706
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+            "finger_midpoint": [
+              0.24281743908899994,
+              0.2014218705868654,
+              1.0026889405496706
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060802284877577994,
+              0.012187121221964164,
+              0.0
+            ],
+            "finger_gap": 0.027239317329345168,
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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": 0.3183214478780699,
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19048283798078267,
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+              0.7565863651971734
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+            "gripper_position": [
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+              -0.10648743847616658,
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+              0.004703918164819174,
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+            "max_held_gripper_dist": 0.007671719804308818,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7565863651971734,
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+            "required_height": 0.7865863651971734,
+            "gripper_z": 1.0169100870079033,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.7424927134088,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.7006734100281063,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8420253383969007,
+            "max_source_tilt_deg": 89.72844067872073,
+            "source_upright_tilt_deg": 3.09892624773986,
+            "max_source_upright_tilt_deg": 89.76148708473268,
+            "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": 2.8420253383969007,
+            "source_upright_return_tilt_deg": 3.09892624773986,
+            "missing_source_orientation_samples": 0,
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+                "gripper",
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44681f77867ce9a1f325b53ba5d6efc5334e7b6400c0899fa13108185e75c665",
+    "visual_seed": 9164445857719706676,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..998257bca83840100138967a54b878f7b481621f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_79_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.002225317304733
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+              0.004980862636612043,
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+              1.002225317304733
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+              0.1998370076001112,
+              1.002225317304733
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "last_valid_pour_pose_failed_keys": [
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+            "pour_controller_debug": {
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+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.327250363850644,
+              -0.3047839330766092,
+              0.8470198884436226
+            ],
+            "target_position": [
+              0.3207925583160369,
+              -0.3050002828252253,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006461428598733244,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18434360739544073,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470198884436226,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576187230067699,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0888123491493381,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15187434176184098,
+            "release_required_pad_clearance": 0.05440617457466905,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.837137492547019,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007441043853759766,
+            "max_z_decrease": 0.007441043853759766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500537615152973,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007441043853759766,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0212707996611945,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007441043853759766,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007441670205300336,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1764924824237823,
+              -0.36126175522804255,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1764924824237823,
+              -0.36126175522804255,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17640356926848424,
+              -0.3604251527103975,
+              0.8088728301106012
+            ],
+            "closest_button": [
+              0.17647798359394068,
+              -0.36127534508705134,
+              0.7738778591156006
+            ],
+            "closest_ee_minus_button": [
+              -7.441432545643445e-05,
+              0.0008501923766538466,
+              0.034994970995000596
+            ],
+            "button_min_z_position": [
+              0.17639666795730585,
+              -0.3612736463546752,
+              0.7693678140640259
+            ],
+            "min_active_finger_to_button": 0.14566476021905692,
+            "closest_active_finger": [
+              0.04856247454881668,
+              -0.42140114307403564,
+              0.8080114722251892
+            ],
+            "closest_active_finger_button": [
+              0.1765251606702804,
+              -0.36127796769142145,
+              0.7729547023773193
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12796268612146372,
+              -0.06012317538261419,
+              0.03505676984786987
+            ],
+            "min_contact_pad_to_button": 0.0212707996611945,
+            "closest_contact_pad": [
+              0.17639666795730585,
+              -0.36174271451046686,
+              0.7906334411013811
+            ],
+            "closest_contact_pad_button": [
+              0.17639666795730585,
+              -0.3612736463546752,
+              0.7693678140640259
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00046906815579167427,
+              0.02126562703735524
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c15dce2a1df1eea0fa39fbe2c791c0195ec23f61cf08b47797e0fa0fdb83d9f",
+    "visual_seed": 8410445302338188408,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3912a68db9e6d6673c9e9d97a4bf32cb003c1c5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_7_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24524827877140998,
+              0.2102628963538763,
+              0.9996908731610872
+            ],
+            "current_z": 0.9996908731610872,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.13858436514632122,
+            "gripper_z": 1.0021372733533274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2399775557475881,
+              0.20525286463218423,
+              1.0021372733533274
+            ],
+            "object_minus_gripper": [
+              0.005270723023821866,
+              0.005010031721692065,
+              -0.0024464001922401835
+            ],
+            "object_to_gripper_xy": 0.007271928151887,
+            "object_to_gripper_z": -0.0024464001922401835,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24524827877140998,
+              0.1858107213119838,
+              0.9996908731610872
+            ],
+            "finger_b": [
+              0.23302099067615145,
+              0.2102628963538763,
+              0.9996908731610872
+            ],
+            "finger_midpoint": [
+              0.23913463472378071,
+              0.19803680883293007,
+              0.9996908731610872
+            ],
+            "object_minus_finger_midpoint": [
+              0.006113644047629263,
+              0.012226087520946227,
+              0.0
+            ],
+            "finger_gap": 0.027338899729941593,
+            "fingertip_max_gap": 0.09086110917430978,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013669449864970784,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9996908731610872,
+            "object_top_z": 1.049677359855262,
+            "finger_top_clearance": 0.049986486694174825,
+            "fingertip_min_top_clearance": 0.014995946008252447,
+            "object_projection_between_fingers": 0.7999685764108116,
+            "object_to_finger_line_xy": 0.0109362041540195,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047930554587154894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.36990543661236375,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+              0.17500102519989008,
+              -0.36330053210258484,
+              0.7692612409591675
+            ],
+            "min_active_finger_to_button": 0.1455614788184161,
+            "closest_active_finger": [
+              0.03433685749769211,
+              -0.3493756055831909,
+              0.8084805011749268
+            ],
+            "closest_active_finger_button": [
+              0.17502771317958826,
+              -0.36331138014793396,
+              0.7738391757011414
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14069085568189615,
+              0.013935774564743042,
+              0.0346413254737854
+            ],
+            "min_contact_pad_to_button": 0.021316493365331184,
+            "closest_contact_pad": [
+              0.17501544952392575,
+              -0.36625314303598944,
+              0.7909127880286011
+            ],
+            "closest_contact_pad_button": [
+              0.17501544952392575,
+              -0.3633024990558624,
+              0.7698014974594116
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00295064398012701,
+              0.021111290569189478
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f40ca145d37cce51b32a111b4ad31c749946e195afc1fe52ceb42fab02aa550a",
+    "visual_seed": 2505584728595046122,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb468a9119e5697d59c46371f84d21d37a50810c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_80_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24590072908768873,
+              0.21700133780174047,
+              1.0029199996492744
+            ],
+            "current_z": 1.0029199996492744,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.14181307440199498,
+            "gripper_z": 1.0050142555941706,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24050450988576644,
+              0.21210006520307972,
+              1.0050142555941706
+            ],
+            "object_minus_gripper": [
+              0.005396219201922292,
+              0.004901272598660744,
+              -0.002094255944896206
+            ],
+            "object_to_gripper_xy": 0.007289832286244829,
+            "object_to_gripper_z": -0.002094255944896206,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24590072908768873,
+              0.1922043816854731,
+              1.0029199996492744
+            ],
+            "finger_b": [
+              0.2341948188988454,
+              0.21700133780174047,
+              1.0029199996492744
+            ],
+            "finger_midpoint": [
+              0.24004777399326707,
+              0.20460285974360679,
+              1.0029199996492744
+            ],
+            "object_minus_finger_midpoint": [
+              0.005852955094421658,
+              0.012398478058133683,
+              0.0
+            ],
+            "finger_gap": 0.02742111168390799,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_center_z_for_grasp": 1.0029199996492744,
+            "object_top_z": 1.0530929328350709,
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+            "fingertip_min_top_clearance": 0.015051879955738923,
+            "object_projection_between_fingers": 0.8177614462056944,
+            "object_to_finger_line_xy": 0.010585673717381037,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804766610168737,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.17140499236659928,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.19240919006018026,
+              -0.08640093206354997,
+              0.7565863790729044
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+            "gripper_position": [
+              0.19846449865638519,
+              -0.09885626896776906,
+              1.0166449513074551
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+            "target_minus_gripper": [
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+              0.012455336904219086,
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+            "held_position": [
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+              -0.09412197105741407,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004734297910354984,
+              -0.0021548943933755726
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+            "held_gripper_dist": 0.007567823659245654,
+            "max_held_gripper_dist": 0.007673882952304764,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863790729044,
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+            "required_height": 0.7865863790729044,
+            "gripper_z": 1.0166449513074551,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.61252104369262,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.47679327397247867,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.865249496797629,
+            "max_source_tilt_deg": 89.90139204492192,
+            "source_upright_tilt_deg": 2.701526657732016,
+            "max_source_upright_tilt_deg": 89.60226771658165,
+            "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": 2.865249496797629,
+            "source_upright_return_tilt_deg": 2.701526657732016,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4743784782324719e-08,
+            "max_target_xy_drift": 3.0163571949985566e-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": 0.03956455142513399,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 2.4403593007804733e-05,
+            "max_target_tilt_deg": 0.00042595262633584875,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1924,
+                -0.0864,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0864,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0008
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+              "controller_last_pour_pose_position": [
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+                1.021
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
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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_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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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3204468178554176,
+              -0.31103134344300143,
+              0.8470189560958874
+            ],
+            "target_position": [
+              0.3142762894963726,
+              -0.3109320572169218,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006171327084547376,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18607004093927762,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470189560958874,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758229018771279,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868819229230852,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15342614893466283,
+            "release_required_pad_clearance": 0.053440961461542605,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8925194532102143,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007405102252960205,
+            "max_z_decrease": 0.007405102252960205,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506192393104165,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007405102252960205,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021036348117792994,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007405102252960205,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074054951888915975,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1699762195348739,
+              -0.3671935200691223,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1699762195348739,
+              -0.3671935200691223,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17083800033041788,
+              -0.36640442405484297,
+              0.8045866525215003
+            ],
+            "closest_button": [
+              0.1698865294456482,
+              -0.3672111332416534,
+              0.7695469260215759
+            ],
+            "closest_ee_minus_button": [
+              0.000951470884769684,
+              0.000806709186810417,
+              0.03503972649992437
+            ],
+            "button_min_z_position": [
+              0.16990162432193756,
+              -0.3672094941139221,
+              0.7694037556648254
+            ],
+            "min_active_finger_to_button": 0.1446975721142854,
+            "closest_active_finger": [
+              0.04448782652616501,
+              -0.4305403232574463,
+              0.8105496168136597
+            ],
+            "closest_active_finger_button": [
+              0.16998046636581418,
+              -0.3672042191028595,
+              0.7762345671653748
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12549263983964917,
+              -0.06333610415458679,
+              0.03431504964828491
+            ],
+            "min_contact_pad_to_button": 0.021036348117792994,
+            "closest_contact_pad": [
+              0.1698865294456482,
+              -0.36747157996226176,
+              0.7905816618088088
+            ],
+            "closest_contact_pad_button": [
+              0.1698865294456482,
+              -0.3672111332416534,
+              0.7695469260215759
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00026044672060837604,
+              0.021034735787232917
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "791f97a0affb12f437bd29a4d90d6e0aa6297f0a1053511e8547e3d99be44106",
+    "visual_seed": 2911813641535687844,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59f7210f7e9cdb2565bf7b9d466d0854700347d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_81_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24457355919431192,
+              0.21580545945239493,
+              0.9997408403312271
+            ],
+            "current_z": 0.9997408403312271,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1386342727118164,
+            "gripper_z": 1.0022902854630633,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2394705623921424,
+              0.2108417122371088,
+              1.0022902854630633
+            ],
+            "object_minus_gripper": [
+              0.005102996802169524,
+              0.004963747215286141,
+              -0.002549445131836192
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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": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007534384727478027,
+            "max_z_decrease": 0.007534384727478027,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035051002428918725,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007534384727478027,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021134349455072463,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007534384727478027,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00753484616325301,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16796644032001493,
+              -0.36319181323051447,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16796644032001493,
+              -0.36319181323051447,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16889782102956166,
+              -0.36412479891306687,
+              0.8045643708382934
+            ],
+            "closest_button": [
+              0.16786907613277433,
+              -0.36320939660072316,
+              0.7695404291152954
+            ],
+            "closest_ee_minus_button": [
+              0.001028744896787337,
+              -0.000915402312343716,
+              0.03502394172299794
+            ],
+            "button_min_z_position": [
+              0.16788475215435025,
+              -0.36320856213569636,
+              0.7692744731903076
+            ],
+            "min_active_finger_to_button": 0.14483938165036134,
+            "closest_active_finger": [
+              0.028022803366184235,
+              -0.34871771931648254,
+              0.8103432655334473
+            ],
+            "closest_active_finger_button": [
+              0.16797102987766263,
+              -0.36320200562477106,
+              0.7759463787078857
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399482265114784,
+              0.014484286308288519,
+              0.03439688682556152
+            ],
+            "min_contact_pad_to_button": 0.021134349455072463,
+            "closest_contact_pad": [
+              0.16787539422512052,
+              -0.3652485652938478,
+              0.790510729921193
+            ],
+            "closest_contact_pad_button": [
+              0.16787539422512052,
+              -0.3632094264030456,
+              0.769474983215332
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020391388908022057,
+              0.021035746705860947
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d8c6db20cd13d26ff456fb8651c6f201b9c588b8dab8792c6c6d1fc8a24a295",
+    "visual_seed": 3153123123216780613,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5321c8c1e7ef9ec3be7963194b767767c5c6899
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_82_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24339676300509078,
+              0.21351439842666728,
+              1.0034184117398803
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+            "current_z": 1.0034184117398803,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14231190372511437,
+            "gripper_z": 1.0055980218178937,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23813945612610585,
+              0.20859886166806096,
+              1.0055980218178937
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+              0.00525730687898493,
+              0.004915536758606315,
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+            "object_to_gripper_xy": 0.007197345152556749,
+            "object_to_gripper_z": -0.002179610078013372,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.18892928342353466,
+              1.0034184117398803
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+            "finger_b": [
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+              0.21351439842666728,
+              1.0034184117398803
+            ],
+            "finger_midpoint": [
+              0.23744661643231166,
+              0.20122184092510098,
+              1.0034184117398803
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+              0.005950146572779119,
+              0.012292557501566298,
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+            ],
+            "finger_gap": 0.027313821714792626,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047903376989068824,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1891907322605415,
+              -0.08839708763121783,
+              0.7565863861818212
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+            "gripper_position": [
+              0.1964382180205222,
+              -0.09907943942224612,
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+            "target_minus_gripper": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004703969246613843,
+              -0.002224428305086734
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+            "xy_dist": 0.012908860895850112,
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+            "held_gripper_dist": 0.0075011239403619916,
+            "max_held_gripper_dist": 0.00762149687876151,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863861818212,
+            "held_z": 1.0155225436230988,
+            "required_height": 0.7865863861818212,
+            "gripper_z": 1.0177469719281855,
+            "wrist_idx": 5,
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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": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "603276e34ffd0f5a016aef2dcbbbf06c0c96d3670c0dfc89bf5dd2db290e30e9",
+    "visual_seed": 4808836912295025823,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f632a8389821ac8fa782f9546c5ba73097409811
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_83_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+          "skill": "pick",
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+          "metrics": {
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+              0.21511981392813892,
+              1.0002058966615777
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+            "initial_z": 0.7611066868287003,
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+            "gripper_z": 1.0024757617463815,
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+            "gripper_position": [
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+              0.2102728153194732,
+              1.0024757617463815
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+              0.005224381389121013,
+              0.00484699860866572,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.2484265222475228,
+              0.19048611142607963,
+              1.0002058966615777
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+            "finger_b": [
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+              0.21511981392813892,
+              1.0002058966615777
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+            "finger_midpoint": [
+              0.242582974271846,
+              0.2028029626771093,
+              1.0002058966615777
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+              0.012316851251029631,
+              0.0
+            ],
+            "finger_gap": 0.027265500375678202,
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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": 0.01055900096502466,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793623300193173,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565864660030577
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+              -0.10167569957213134,
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+            "max_wrist_deg": 120.45538571164731,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.60599345959665,
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+            "max_source_upright_tilt_deg": 89.61984366945134,
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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_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0003173937261575278,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+                -0.088,
+                0.7566
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_target_object": "beaker_b",
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+              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": {
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+              "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": [
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+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            },
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.320500062483727,
+              -0.30806769604773265,
+              0.8470193911336086
+            ],
+            "target_position": [
+              0.3133829828410798,
+              -0.308517243776819,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007131263268209192,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18710874232454378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470193911336086,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537552423707042,
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+            "release_fingertip_min_gap": 0.08650748279173325,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15560472757508395,
+            "release_required_pad_clearance": 0.053253741395866624,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5267157669419051,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007199645042419434,
+            "max_z_decrease": 0.007199645042419434,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503301966947962,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007199645042419434,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021200788142583433,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007199645042419434,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0071999494652787216,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.169082909822464,
+              -0.3647786974906921,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.169082909822464,
+              -0.3647786974906921,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16791727123316466,
+              -0.36626219830945717,
+              0.8048655380541375
+            ],
+            "closest_button": [
+              0.16900694370269775,
+              -0.3647932410240173,
+              0.7698802947998047
+            ],
+            "closest_ee_minus_button": [
+              -0.0010896724695330928,
+              -0.001468957285439887,
+              0.03498524325433283
+            ],
+            "button_min_z_position": [
+              0.16901768743991852,
+              -0.3647900819778442,
+              0.7696092128753662
+            ],
+            "min_active_finger_to_button": 0.14680472188538976,
+            "closest_active_finger": [
+              0.027195610105991364,
+              -0.3495711088180542,
+              0.8102856278419495
+            ],
+            "closest_active_finger_button": [
+              0.16908426582813263,
+              -0.36478775739669794,
+              0.7758227586746216
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14188865572214127,
+              0.015216648578643743,
+              0.03446286916732788
+            ],
+            "min_contact_pad_to_button": 0.021200788142583433,
+            "closest_contact_pad": [
+              0.16900694370269775,
+              -0.36749770280393745,
+              0.7909078791676691
+            ],
+            "closest_contact_pad_button": [
+              0.16900694370269775,
+              -0.3647932410240173,
+              0.7698802947998047
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027044617799201753,
+              0.02102758436786445
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b973a7edfb00de975903962212ae9fc716f6716cf66c9b29e1c8b765743742aa",
+    "visual_seed": 8805467705296991390,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be03cb159e8d2f44b76a988501f5ab3b030a1f0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_84_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              1.000279818448675
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+            "lift_margin": 0.13917301241068492,
+            "gripper_z": 1.0025253021023675,
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+            "gripper_position": [
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+              0.20565876376084719,
+              1.0025253021023675
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+              0.004923181039594521,
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+            "object_to_gripper_z": -0.0022454836536924816,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2451579713579775,
+              0.18613741885877214,
+              1.000279818448675
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+            "finger_b": [
+              0.233161752098259,
+              0.2105819448004417,
+              1.000279818448675
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+            "finger_midpoint": [
+              0.23915986172811826,
+              0.19835968182960692,
+              1.000279818448675
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+              0.0059981096298592496,
+              0.012222262970834785,
+              0.0
+            ],
+            "finger_gap": 0.02722947162616634,
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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": 0.01076928325756981,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797341671374647,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3060472819553152,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
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+              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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
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+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "gripper",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_rizon4",
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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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+                "defaultgroundplane",
+                "desk",
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+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007609665393829346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007609985222723994,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17290620505809784,
+              -0.36772623658180237,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17290620505809784,
+              -0.36772623658180237,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1745188816023217,
+              -0.3691358210093499,
+              0.804798481249611
+            ],
+            "closest_button": [
+              0.17282702028751373,
+              -0.36773633956909174,
+              0.7697933316230774
+            ],
+            "closest_ee_minus_button": [
+              0.0016918613148079742,
+              -0.0013994814402581435,
+              0.03500514962653356
+            ],
+            "button_min_z_position": [
+              0.17283783853054047,
+              -0.36774015426635737,
+              0.7691991925239563
+            ],
+            "min_active_finger_to_button": 0.14424180958368538,
+            "closest_active_finger": [
+              0.03364267200231552,
+              -0.3532644808292389,
+              0.8083996176719666
+            ],
+            "closest_active_finger_button": [
+              0.17291748523712158,
+              -0.36773848533630366,
+              0.7737769484519958
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13927481323480606,
+              0.014474004507064764,
+              0.0346226692199707
+            ],
+            "min_contact_pad_to_button": 0.0212664654294199,
+            "closest_contact_pad": [
+              0.17283783853054047,
+              -0.370325667278647,
+              0.7903079033875783
+            ],
+            "closest_contact_pad_button": [
+              0.17283783853054047,
+              -0.36774015426635737,
+              0.7691991925239563
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002585513012289653,
+              0.021108710863621982
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb1fa4cae6bd363d24fa16a2f48400a64fec34b01fc8e448dde2172aa4ef366c",
+    "visual_seed": 1820883963216798699,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3e25176125178879cd4d6fba1bc7a9df9389fdb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_85_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.24365137807925663,
+              0.21309192116270648,
+              1.0017922552393097
+            ],
+            "current_z": 1.0017922552393097,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.14068562801525397,
+            "gripper_z": 1.0041027405220428,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2081473536625627,
+              1.0041027405220428
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+              0.0052716459839077245,
+              0.0049445675001437706,
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+            "object_to_gripper_xy": 0.0072276551621621,
+            "object_to_gripper_z": -0.0023104852827331435,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24365137807925663,
+              0.18853815176311925,
+              1.0017922552393097
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+            "finger_b": [
+              0.2317040547469969,
+              0.21309192116270648,
+              1.0017922552393097
+            ],
+            "finger_midpoint": [
+              0.23767771641312677,
+              0.20081503646291288,
+              1.0017922552393097
+            ],
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+              0.005973661666129865,
+              0.0122768846997936,
+              0.0
+            ],
+            "finger_gap": 0.02730615546966771,
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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": 0.808565540119773,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802755358567161,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24779524562668043,
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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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565863549219851
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+            "gripper_position": [
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+              -0.10104749933835755,
+              1.0188711301006699
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+            "held_minus_target": [
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+              0.004831118865735118,
+              -0.0023804371099034327
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+            "max_held_gripper_dist": 0.0077036939739240475,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565863549219851,
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+            "gripper_z": 1.0188711301006699,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.33492166525579,
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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": 2.820107510307395,
+            "max_source_tilt_deg": 89.70594862694516,
+            "source_upright_tilt_deg": 2.6421282632904473,
+            "max_source_upright_tilt_deg": 89.68774424712656,
+            "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": 2.820107510307395,
+            "source_upright_return_tilt_deg": 2.6421282632904473,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.3115655165623014e-07,
+            "max_target_xy_drift": 8.604080682205944e-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": 0.039561963081730926,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 8.436821659941481e-05,
+            "max_target_tilt_deg": 0.0009334046094117384,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1899,
+                -0.0872,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.0872,
+                0.7566
+              ],
+              "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,
+              "controller_t": 0.0,
+              "source_size": [
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32175617620273794,
+              -0.3116096050469435,
+              0.8470195395572285
+            ],
+            "target_position": [
+              0.315092543352164,
+              -0.3118591767574758,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006668304792520054,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18563026759941284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195395572285,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757280313752146,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08850724106190731,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15333754778835534,
+            "release_required_pad_clearance": 0.05425362053095366,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.525838432203767,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007380962371826172,
+            "max_z_decrease": 0.007380962371826172,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502338828745067,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007380962371826172,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021265186442077824,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007380962371826172,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007381493728289236,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17079247534275055,
+              -0.3681206405162811,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17079247534275055,
+              -0.3681206405162811,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1695900768205126,
+              -0.36971110397726475,
+              0.8056071552425977
+            ],
+            "closest_button": [
+              0.17069831490516663,
+              -0.36812856793403625,
+              0.7706370949745178
+            ],
+            "closest_ee_minus_button": [
+              -0.0011082380846540174,
+              -0.0015825360432284996,
+              0.03497006026807992
+            ],
+            "button_min_z_position": [
+              0.17070439457893372,
+              -0.3681299090385437,
+              0.7694278955459595
+            ],
+            "min_active_finger_to_button": 0.14696813853981486,
+            "closest_active_finger": [
+              0.028875835239887238,
+              -0.3520478308200836,
+              0.8091779947280884
+            ],
+            "closest_active_finger_button": [
+              0.17080029845237732,
+              -0.3681355118751526,
+              0.7745620012283325
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14192446321249008,
+              0.01608768105506897,
+              0.03461599349975586
+            ],
+            "min_contact_pad_to_button": 0.021265186442077824,
+            "closest_contact_pad": [
+              0.17070439457893372,
+              -0.3710089074946412,
+              0.7904972933139575
+            ],
+            "closest_contact_pad_button": [
+              0.17070439457893372,
+              -0.3681299090385437,
+              0.7694278955459595
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028789984560975146,
+              0.021069397767997988
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b857cdb1ca3e4a98c2027e935cccd0db2f63da43fdf080786329b07e7089229d",
+    "visual_seed": 1217793219516065123,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7078b74432774577f7d109297accfe571645f1f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_86_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 6,
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+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072574615478515625,
+            "max_z_decrease": 0.0072574615478515625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500369468795816,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072574615478515625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021352320003136818,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0072574615478515625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007257823279103404,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1706411689519882,
+              -0.36502796411514277,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1706411689519882,
+              -0.36502796411514277,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17067091208206756,
+              -0.36635007565491307,
+              0.8047240758353188
+            ],
+            "closest_button": [
+              0.17055810987949366,
+              -0.36501884460449213,
+              0.7697458863258362
+            ],
+            "closest_ee_minus_button": [
+              0.00011280220257389728,
+              -0.0013312310504209335,
+              0.034978189509482616
+            ],
+            "button_min_z_position": [
+              0.1705687344074249,
+              -0.36502993106842035,
+              0.7695513963699341
+            ],
+            "min_active_finger_to_button": 0.14572248833282975,
+            "closest_active_finger": [
+              0.030173279345035553,
+              -0.3480728268623352,
+              0.8078575730323792
+            ],
+            "closest_active_finger_button": [
+              0.17066036164760584,
+              -0.365040510892868,
+              0.7730650305747986
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404870823025703,
+              0.01696768403053278,
+              0.034792542457580566
+            ],
+            "min_contact_pad_to_button": 0.021352320003136818,
+            "closest_contact_pad": [
+              0.1705687344074249,
+              -0.3677579098282897,
+              0.7907287357071138
+            ],
+            "closest_contact_pad_button": [
+              0.1705687344074249,
+              -0.36502993106842035,
+              0.7695513963699341
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002727978759869354,
+              0.02117733933717969
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "15e22a9ed71c05317b51cef36eca50d13f06baab77e62b2a1faf295560230884",
+    "visual_seed": 1639936986822431244,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e17832103edc85dd363b28fe58b6392aee2ede25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_88_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24662754130801093,
+              0.21068780739612383,
+              1.003104111079184
+            ],
+            "current_z": 1.003104111079184,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1419975434597731,
+            "gripper_z": 1.0054368765356125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24148129264934276,
+              0.2056986142873518,
+              1.0054368765356125
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+              0.005146248658668168,
+              0.004989193108772022,
+              -0.002332765456428465
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+            "object_to_gripper_xy": 0.007167699989080329,
+            "object_to_gripper_z": -0.002332765456428465,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24662754130801093,
+              0.18637245418181164,
+              1.003104111079184
+            ],
+            "finger_b": [
+              0.2343601235038791,
+              0.21068780739612383,
+              1.003104111079184
+            ],
+            "finger_midpoint": [
+              0.24049383240594502,
+              0.19853013078896775,
+              1.003104111079184
+            ],
+            "object_minus_finger_midpoint": [
+              0.00613370890206591,
+              0.012157676607156082,
+              0.0
+            ],
+            "finger_gap": 0.027234645977465773,
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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": 1.0530830677528165,
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+            "fingertip_min_top_clearance": 0.014993687002089716,
+            "object_projection_between_fingers": 0.7971089709048552,
+            "object_to_finger_line_xy": 0.010952468307530525,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792613526775004,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.39909831066268886,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1921985844679145,
+              -0.08517773413038361,
+              0.7565863291659601
+            ],
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96d865a9aecc37b4b44e086c5f8686d8f718dfb845015c54b232731e1b092d8d",
+    "visual_seed": 7487767228391433829,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eed5cc1c1687153f2e96aa8c6cf75aeafdf3e7d6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_89_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.0009956467111012
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+            "lift_margin": 0.13988907909169046,
+            "gripper_z": 1.0030993072474343,
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+            "gripper_position": [
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+              0.2117801850524943,
+              1.0030993072474343
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+              0.004943269839798398,
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+            "object_to_gripper_z": -0.0021036605363331518,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24943602640195084,
+              0.1923684729014842,
+              1.0009956467111012
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+            "finger_b": [
+              0.2372909503550575,
+              0.2167234548922927,
+              1.0009956467111012
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+            "finger_midpoint": [
+              0.2433634883785042,
+              0.20454596389688845,
+              1.0009956467111012
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+              0.012177490995404244,
+              0.0
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+            "finger_midpoint_minus_object_z": 0.0,
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+              1.0
+            ],
+            "stable_success_frames": 162,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.10497865714647077,
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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,
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+            "target_xy_drift": 1.3605331930207119e-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,
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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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+              "raw_target_position": [
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+              "controller_target_position": [
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+              ],
+              "controller_target_minus_raw_target": [
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0904
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+                "fr3_rightfinger",
+                "franka",
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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",
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3240233584235565,
+              -0.3039505535796384,
+              0.8470195509273271
+            ],
+            "target_position": [
+              0.3175853157522761,
+              -0.30402035087589413,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006438421009827786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841364310516833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470195509273271,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563146264180909,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08806478288867646,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151860891573048,
+            "release_required_pad_clearance": 0.05403239144433823,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0764849297940344,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007373511791229248,
+            "max_z_decrease": 0.007373511791229248,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508816084307503,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007373511791229248,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02120730945217686,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007373511791229248,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007374122506303486,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1732852458953858,
+              -0.36028179526329035,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1732852458953858,
+              -0.36028179526329035,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1709697281628601,
+              -0.35846588961595105,
+              0.806694191551234
+            ],
+            "closest_button": [
+              0.17327836155891424,
+              -0.3602849841117859,
+              0.7717293500900269
+            ],
+            "closest_ee_minus_button": [
+              -0.0023086333960541383,
+              0.0018190944958348387,
+              0.03496484146120715
+            ],
+            "button_min_z_position": [
+              0.17319205403327947,
+              -0.36029973626136774,
+              0.7694353461265564
+            ],
+            "min_active_finger_to_button": 0.14716228546463425,
+            "closest_active_finger": [
+              0.04307614266872406,
+              -0.419353723526001,
+              0.8075714707374573
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+            "closest_active_finger_button": [
+              0.173303633928299,
+              -0.3602922856807709,
+              0.7727966904640198
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.13022749125957495,
+              -0.0590614378452301,
+              0.0347747802734375
+            ],
+            "min_contact_pad_to_button": 0.02120730945217686,
+            "closest_contact_pad": [
+              0.17327836155891424,
+              -0.3602849841117859,
+              0.7929366595422037
+            ],
+            "closest_contact_pad_button": [
+              0.17327836155891424,
+              -0.3602849841117859,
+              0.7717293500900269
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02120730945217686
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b51f65bfe748b147588e34463da09a16ab6bef659d4febbfc1a283fd6e44bf73",
+    "visual_seed": 4257091941684558460,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f3e3cd1949d33bc1c9c1946fbbcdd860f39c153
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_8_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.21978345448580258,
+              1.0035581731277183
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+            "current_z": 1.0035581731277183,
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+            "lift_margin": 0.14245160550830738,
+            "gripper_z": 1.0056385534284586,
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+            "gripper_position": [
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+              0.21479812033627654,
+              1.0056385534284586
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+              0.005408043484739777,
+              0.004985334149526038,
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+            "object_to_gripper_xy": 0.007355303590965288,
+            "object_to_gripper_z": -0.0020803803007403143,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24765663739613514,
+              0.1950738802836723,
+              1.0035581731277183
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+            "finger_b": [
+              0.23565978544378716,
+              0.21978345448580258,
+              1.0035581731277183
+            ],
+            "finger_midpoint": [
+              0.24165821141996113,
+              0.20742866738473745,
+              1.0035581731277183
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+            "object_minus_finger_midpoint": [
+              0.005998425976174004,
+              0.012354787101065134,
+              0.0
+            ],
+            "finger_gap": 0.027467936107708153,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0035581731277183,
+            "object_top_z": 1.0535401874177641,
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+            "object_projection_between_fingers": 0.8092420960020201,
+            "object_to_finger_line_xy": 0.01079211420712919,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477695427581436,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.16258129835614815,
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007463574409484863,
+            "max_z_decrease": 0.007463574409484863,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501895667688962,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007463574409484863,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021033443086302627,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007463574409484863,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074641377195019685,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17244924604892728,
+              -0.3584789633750915,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17244924604892728,
+              -0.3584789633750915,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1728644298789989,
+              -0.35791306157742053,
+              0.8048074617647035
+            ],
+            "closest_button": [
+              0.17234905064105982,
+              -0.3584993183612823,
+              0.7697972059249878
+            ],
+            "closest_ee_minus_button": [
+              0.0005153792379390676,
+              0.0005862567838617605,
+              0.03501025583971573
+            ],
+            "button_min_z_position": [
+              0.17235994338989255,
+              -0.3584997951984405,
+              0.7693452835083008
+            ],
+            "min_active_finger_to_button": 0.14521477273191302,
+            "closest_active_finger": [
+              0.04685910791158676,
+              -0.4227800667285919,
+              0.8109240531921387
+            ],
+            "closest_active_finger_button": [
+              0.1724542677402496,
+              -0.3584874272346496,
+              0.7765781283378601
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12559515982866284,
+              -0.06429263949394232,
+              0.034345924854278564
+            ],
+            "min_contact_pad_to_button": 0.021033443086302627,
+            "closest_contact_pad": [
+              0.17235994338989255,
+              -0.35891561771882174,
+              0.7903746158727929
+            ],
+            "closest_contact_pad_button": [
+              0.17235994338989255,
+              -0.3584997951984405,
+              0.7693452835083008
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00041582252038124823,
+              0.021029332364492115
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23c86485ab4c35284cf340daf18c9628fbb104ff071338b83a352e498fa3bd62",
+    "visual_seed": 7360543671221215874,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0a207ef8cd4a961b4d94b43858d7e1c9f7e8b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_90_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24197037825863743,
+              0.21216024021516441,
+              1.00139364144129
+            ],
+            "current_z": 1.00139364144129,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.14028701421723466,
+            "gripper_z": 1.0036228987435187,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23678268078048872,
+              0.20728020969664812,
+              1.0036228987435187
+            ],
+            "object_minus_gripper": [
+              0.005187697478148706,
+              0.004880030518516293,
+              -0.002229257302228671
+            ],
+            "object_to_gripper_xy": 0.007122282147348618,
+            "object_to_gripper_z": -0.002229257302228671,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24197037825863743,
+              0.18763401668199903,
+              1.00139364144129
+            ],
+            "finger_b": [
+              0.23012866479789235,
+              0.21216024021516441,
+              1.00139364144129
+            ],
+            "finger_midpoint": [
+              0.2360495215282649,
+              0.1998971284485817,
+              1.00139364144129
+            ],
+            "object_minus_finger_midpoint": [
+              0.005920856730372542,
+              0.012263111766582707,
+              0.0
+            ],
+            "finger_gap": 0.02723530463360355,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_center_z_for_grasp": 1.00139364144129,
+            "object_top_z": 1.0514207415869858,
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+            "object_projection_between_fingers": 0.8109552497960075,
+            "object_to_finger_line_xy": 0.010663824593156387,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047886853323064194,
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+            "object_upright_reference_source": "scene_initial",
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+              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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.1917556222947212,
+              -0.0883087162165331,
+              0.7565861623866244
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+            "gripper_position": [
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+              -0.10126530388682271,
+              1.0161433867049856
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+              0.00466388594579803,
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+            "max_held_gripper_dist": 0.007571902905597465,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565861623866244,
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+            "gripper_z": 1.0161433867049856,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.61904387434998,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.1711823024647531,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.862188774571742,
+            "max_source_tilt_deg": 89.91865491412558,
+            "source_upright_tilt_deg": 2.8651529026922335,
+            "max_source_upright_tilt_deg": 89.8649036102496,
+            "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": 2.862188774571742,
+            "source_upright_return_tilt_deg": 2.8651529026922335,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.87944415526848e-07,
+            "max_target_xy_drift": 6.269291123453059e-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": 0.03956457388374334,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.00025944184961168034,
+            "max_target_tilt_deg": 0.0006293551186527796,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
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+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "63693abe5112a403300510b80d45036cbcc1867ece5b2edefd15eb0caa0b0675",
+    "visual_seed": 3179905341973365679,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d0a55b96098022a78ed2ed006d914c4b61ec083
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_91_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+      "reason": "executed",
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+              1.0003368486905149
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+              0.20433015147620787,
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
+        },
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "valid_pour_pose_frames": 0,
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            ],
+            "target_position": [
+              0.31726355594211975,
+              -0.30960362671233654,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008687503995667069,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18829665158939698,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194726914864,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537965283231501,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08778933066073279,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15684294230439147,
+            "release_required_pad_clearance": 0.053894665330366395,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7991135457476015,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007440626621246338,
+            "max_z_decrease": 0.007440626621246338,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501747672363469,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007440626621246338,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02122348133394877,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007440626621246338,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007440827265559873,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17296348512172705,
+              -0.3658650815486907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17296348512172705,
+              -0.3658650815486907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17412005783634568,
+              -0.36490128548570255,
+              0.8050695765229342
+            ],
+            "closest_button": [
+              0.172925353050232,
+              -0.3658712804317473,
+              0.7700859308242798
+            ],
+            "closest_ee_minus_button": [
+              0.0011947047861136928,
+              0.0009699949460447721,
+              0.03498364569865442
+            ],
+            "button_min_z_position": [
+              0.1729098409414292,
+              -0.365875482559204,
+              0.7693682312965393
+            ],
+            "min_active_finger_to_button": 0.14456042099742808,
+            "closest_active_finger": [
+              0.04647400230169296,
+              -0.42658376693725586,
+              0.8087659478187561
+            ],
+            "closest_active_finger_button": [
+              0.17297409474849706,
+              -0.3658739328384399,
+              0.7739843726158142
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1265000924468041,
+              -0.060709834098815973,
+              0.034781575202941895
+            ],
+            "min_contact_pad_to_button": 0.02122348133394877,
+            "closest_contact_pad": [
+              0.1729098409414292,
+              -0.3662565947549186,
+              0.7905882905195186
+            ],
+            "closest_contact_pad_button": [
+              0.1729098409414292,
+              -0.365875482559204,
+              0.7693682312965393
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00038111219571462795,
+              0.021220059222979315
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36b2b197daac3de556179595c80391b547c840f1c31fa31eebceaf38dbaa8d7e",
+    "visual_seed": 7910290308953358747,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bce75931eca0f85d6cfa584730619b799691bd2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_92_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24382662344250844,
+              0.21287312490946916,
+              1.003116285193324
+            ],
+            "current_z": 1.003116285193324,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.142009717573913,
+            "gripper_z": 1.0053624597596589,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23841936915769346,
+              0.20799211992114927,
+              1.0053624597596589
+            ],
+            "object_minus_gripper": [
+              0.005407254284814977,
+              0.0048810049883198925,
+              -0.002246174566334913
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+            "object_to_gripper_xy": 0.007284408596217925,
+            "object_to_gripper_z": -0.002246174566334913,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24382662344250844,
+              0.1879919720092781,
+              1.003116285193324
+            ],
+            "finger_b": [
+              0.23222096349196233,
+              0.21287312490946916,
+              1.003116285193324
+            ],
+            "finger_midpoint": [
+              0.2380237934672354,
+              0.20043254845937364,
+              1.003116285193324
+            ],
+            "object_minus_finger_midpoint": [
+              0.005802829975273038,
+              0.012440576450095525,
+              0.0
+            ],
+            "finger_gap": 0.027454746630234915,
+            "fingertip_max_gap": 0.0907796317888063,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01372737331511745,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.003116285193324,
+            "object_top_z": 1.0531663110195102,
+            "finger_top_clearance": 0.05005002582618623,
+            "fingertip_min_top_clearance": 0.015015007747855835,
+            "object_projection_between_fingers": 0.8213081263216122,
+            "object_to_finger_line_xy": 0.01051775139746356,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788981589440315,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.12213836041159337,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              0.1715192198753357,
+              -0.3661240339279174,
+              0.7752658724784851
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12925595045089722,
+              -0.059552222490310724,
+              0.0346829891204834
+            ],
+            "min_contact_pad_to_button": 0.021155381011840113,
+            "closest_contact_pad": [
+              0.17144165933132172,
+              -0.36612978577613825,
+              0.7907772896765435
+            ],
+            "closest_contact_pad_button": [
+              0.17144165933132172,
+              -0.36612978577613825,
+              0.7696219086647034
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021155381011840113
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10a00c6eeff875d1b63e99e9e8f7bfa9979bfc09bc2c38cc121fcba8af05141d",
+    "visual_seed": 4342922425475285091,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c1bf9d96485e96e712885ee3e4f597f366b8d8b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_93_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.24470006004420317,
+              0.2186330689200021,
+              1.001632014353351
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+            "current_z": 1.001632014353351,
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+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14052544673394018,
+            "gripper_z": 1.0038178310059025,
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+            "gripper_position": [
+              0.23929182341387023,
+              0.21373832386447025,
+              1.0038178310059025
+            ],
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+              0.0054082366303329354,
+              0.004894745055531835,
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+            "object_to_gripper_xy": 0.007294350732472925,
+            "object_to_gripper_z": -0.0021858166525514644,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24470006004420317,
+              0.19376634567981096,
+              1.001632014353351
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+            "finger_b": [
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+              0.2186330689200021,
+              1.001632014353351
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+            "finger_midpoint": [
+              0.23888037980254567,
+              0.20619970729990653,
+              1.001632014353351
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+              0.012433361620095562,
+              0.0
+            ],
+            "finger_gap": 0.027455939924992828,
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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": 0.010541717261259834,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479393642053966,
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+            "object_tilt_deg": 0.15226802469328884,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.0933948518741287,
+              0.7565861968806722
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+            "gripper_position": [
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+              -0.10581932441453047,
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+              0.004857140861361367,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.65609082040814,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_start_tilt_deg": 0.6675458452740419,
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+            "max_source_tilt_deg": 89.54221920198881,
+            "source_upright_tilt_deg": 2.9951472689857908,
+            "max_source_upright_tilt_deg": 89.96252334145329,
+            "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": 2.9065888395906585,
+            "source_upright_return_tilt_deg": 2.9951472689857908,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.2220424243207164e-07,
+            "max_target_xy_drift": 1.1590551491115033e-06,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.03956457147943836,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0008030720358550007,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1882,
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+                0.7566
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+              "controller_target_position": [
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+              "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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+              "controller_event": 6,
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+              "source_size": [
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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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+                  -8.052560585431541e-05
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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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+          "failure_messages": {},
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31958757111889635,
+              -0.30390071146306213,
+              0.8470194280773762
+            ],
+            "target_position": [
+              0.31277463270021894,
+              -0.30407412009685536,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006815144932498851,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18594415071640458,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470194280773762,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564507104776545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08855458316940622,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15372451069745716,
+            "release_required_pad_clearance": 0.05427729158470311,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.574130134196436,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074304938316345215,
+            "max_z_decrease": 0.0074304938316345215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035024834287015395,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074304938316345215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021047470790687695,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074304938316345215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007431132707054253,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16847455501556396,
+              -0.3603355884552001,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16847455501556396,
+              -0.3603355884552001,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16904076840667712,
+              -0.36016010897996487,
+              0.8046529930128778
+            ],
+            "closest_button": [
+              0.16837519407272342,
+              -0.36035430431365956,
+              0.769635021686554
+            ],
+            "closest_ee_minus_button": [
+              0.0006655743339537001,
+              0.0001941953336946911,
+              0.03501797132632389
+            ],
+            "button_min_z_position": [
+              0.16837893426418307,
+              -0.36035433411598194,
+              0.7693783640861511
+            ],
+            "min_active_finger_to_button": 0.14522956754868888,
+            "closest_active_finger": [
+              0.04248499870300293,
+              -0.42389559745788574,
+              0.8108986020088196
+            ],
+            "closest_active_finger_button": [
+              0.16847918927669528,
+              -0.36034610867500294,
+              0.7765685319900513
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12599419057369235,
+              -0.0635494887828828,
+              0.03433007001876831
+            ],
+            "min_contact_pad_to_button": 0.021047470790687695,
+            "closest_contact_pad": [
+              0.16837893426418307,
+              -0.36127211114479457,
+              0.7904058154773739
+            ],
+            "closest_contact_pad_button": [
+              0.16837893426418307,
+              -0.36035433411598194,
+              0.7693783640861511
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009177770288126275,
+              0.02102745139122275
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "97c39086c1b0106c93b61c65e0292fd420bf2eaec0975f8dd0718a70f105caaa",
+    "visual_seed": 5848170394573573808,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb891dc9e444122fd13675ec641dd9d6f8012059
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_94_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25108914183093,
+              0.21201112325486487,
+              1.0011773021739572
+            ],
+            "current_z": 1.0011773021739572,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14007079415919121,
+            "gripper_z": 1.0033029661368371,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24574026344423652,
+              0.20714555123390826,
+              1.0033029661368371
+            ],
+            "object_minus_gripper": [
+              0.005348878386693484,
+              0.00486557202095661,
+              -0.0021256639628799423
+            ],
+            "object_to_gripper_xy": 0.0072307877224236415,
+            "object_to_gripper_z": -0.0021256639628799423,
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00734865665435791,
+            "max_z_decrease": 0.00734865665435791,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499174525694313,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00734865665435791,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021323950574996246,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00734865665435791,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007349155260644862,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17362631857395172,
+              -0.36405071616172785,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17362631857395172,
+              -0.36405071616172785,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1736289111018886,
+              -0.3649832462020578,
+              0.8052759290011643
+            ],
+            "closest_button": [
+              0.1736084520816803,
+              -0.36405462026596064,
+              0.7702965140342712
+            ],
+            "closest_ee_minus_button": [
+              2.04590202083077e-05,
+              -0.0009286259360971605,
+              0.03497941496689305
+            ],
+            "button_min_z_position": [
+              0.17354102432727814,
+              -0.36405801773071284,
+              0.7694602012634277
+            ],
+            "min_active_finger_to_button": 0.14581642911716344,
+            "closest_active_finger": [
+              0.03306174278259277,
+              -0.347257137298584,
+              0.8078773617744446
+            ],
+            "closest_active_finger_button": [
+              0.1736493706703186,
+              -0.36406263709068293,
+              0.7730187177658081
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14058762788772583,
+              0.016805499792098944,
+              0.034858644008636475
+            ],
+            "min_contact_pad_to_button": 0.021323950574996246,
+            "closest_contact_pad": [
+              0.17354102432727814,
+              -0.36629965949089344,
+              0.7906660002425725
+            ],
+            "closest_contact_pad_button": [
+              0.17354102432727814,
+              -0.36405801773071284,
+              0.7694602012634277
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022416417601806016,
+              0.021205798979144763
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05083fe740b788034f8e0c8c3a1bc2b68f186ff90bf4e8ea1d76aa47c4671901",
+    "visual_seed": 4824136965622357983,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be853504f1f26ab259a97712aa675dae0e68edb3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_95_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.24750119174534008,
+              0.20893635171830627,
+              1.0020720178552072
+            ],
+            "current_z": 1.0020720178552072,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14096533102650688,
+            "gripper_z": 1.004283074230343,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24204690730091477,
+              0.2039854689421075,
+              1.004283074230343
+            ],
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+              0.005454284444425306,
+              0.004950882776198762,
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+            "object_to_gripper_xy": 0.007366169904662899,
+            "object_to_gripper_z": -0.002211056375135856,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.24750119174534008,
+              0.18412974055035336,
+              1.0020720178552072
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+            "finger_b": [
+              0.2356393241104493,
+              0.20893635171830627,
+              1.0020720178552072
+            ],
+            "finger_midpoint": [
+              0.2415702579278947,
+              0.19653304613432981,
+              1.0020720178552072
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059309338174453885,
+              0.012403305583976454,
+              0.0
+            ],
+            "finger_gap": 0.027496760926074098,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783592389996333,
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+            "object_tilt_deg": 0.10416170887764815,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              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": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565862030603763
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+            "gripper_position": [
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+              -0.09681188523390061,
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+            "held_minus_target": [
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+              0.004773531168269118,
+              -0.0022459303291275656
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+            "xy_dist": 0.013018814283600563,
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+            "held_gripper_dist": 0.007672096182704335,
+            "max_held_gripper_dist": 0.007793450018565647,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565862030603763,
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+            "required_height": 0.7865862030603763,
+            "gripper_z": 1.0170215047068496,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.64611874421992,
+            "rotation_threshold_deg": 50.0,
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+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b2cb38766920215850b7ab325227f4d44a3d223978a9969294ea3c93d26fd66",
+    "visual_seed": 5942370660200724632,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32023181ddf519cbeb9771f5a28bdfdb95e6483f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_97_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2445493099744662,
+              0.21557539241862808,
+              1.0020431299188166
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+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.14093632388082677,
+            "gripper_z": 1.004080672329888,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21071251790425222,
+              1.004080672329888
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+              0.005352318723021776,
+              0.0048628745143758645,
+              -0.002037542411071458
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+            "object_to_gripper_xy": 0.007231518806957205,
+            "object_to_gripper_z": -0.002037542411071458,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2445493099744662,
+              0.19072475884566711,
+              1.0020431299188166
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+            "finger_b": [
+              0.23297705843292907,
+              0.21557539241862808,
+              1.0020431299188166
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+            "finger_midpoint": [
+              0.23876318420369763,
+              0.2031500756321476,
+              1.0020431299188166
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+              0.012425316786480484,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786211844948464,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.08894691542193947,
+              0.7565863350526117
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+              -0.10337835576729164,
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+              0.004805281177120424,
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+            "xy_threshold": 0.15,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 1.2803251816035265e-07,
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+            "max_target_tilt_deg": 0.00043837681094961457,
+            "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",
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+            ],
+            "pour_controller_height_range_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",
+              "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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+              ],
+              "pour_height_range_m": [
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+                0.2
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+              "tilt_position_threshold_m": 0.04,
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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_a",
+            "pour_controller_source_return_upright_error_deg": 1.6693505128715345,
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+            },
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+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.32034656018085383,
+              -0.3133797173333607,
+              0.8470200148503408
+            ],
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+              0.31583222899697727,
+              -0.31178784241934326,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00478677885217171,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18542065146432424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470200148503408,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585609592323482,
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+            "release_fingertip_min_gap": 0.08754544891071613,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15224448698375861,
+            "release_required_pad_clearance": 0.053772724455358065,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.552817788314418,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007421553134918213,
+            "max_z_decrease": 0.007421553134918213,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507291761907794,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007421553134918213,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021050188526743785,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007421553134918213,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007421980157650838,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17153215408325195,
+              -0.36804929375648493,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17153215408325195,
+              -0.36804929375648493,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17239378828922597,
+              -0.36642623917813966,
+              0.8045492939206662
+            ],
+            "closest_button": [
+              0.1714392453432083,
+              -0.3680672347545624,
+              0.769527792930603
+            ],
+            "closest_ee_minus_button": [
+              0.0009545429460176558,
+              0.0016409955764227213,
+              0.03502150099006318
+            ],
+            "button_min_z_position": [
+              0.17145434021949768,
+              -0.368066132068634,
+              0.7693873047828674
+            ],
+            "min_active_finger_to_button": 0.14435960933694975,
+            "closest_active_finger": [
+              0.04593163728713989,
+              -0.43034812808036804,
+              0.810621440410614
+            ],
+            "closest_active_finger_button": [
+              0.17153850197792053,
+              -0.368058979511261,
+              0.7762314081192017
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12560686469078064,
+              -0.062289148569107056,
+              0.034390032291412354
+            ],
+            "min_contact_pad_to_button": 0.021050188526743785,
+            "closest_contact_pad": [
+              0.1714392453432083,
+              -0.3680672347545624,
+              0.7905779814573468
+            ],
+            "closest_contact_pad_button": [
+              0.1714392453432083,
+              -0.3680672347545624,
+              0.769527792930603
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021050188526743785
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4be7c863fa8c520c2ed76e5bdafa065182a7eeeef249a3685f49966cc03204b1",
+    "visual_seed": 6531249940839471927,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bee62e0d89c3710dd333febd9ba2fa98eb0073c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_98_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "object_position": [
+              0.24517933576420411,
+              0.21684040924630943,
+              1.0010092283396261
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+            "current_z": 1.0010092283396261,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.1399023626969914,
+            "gripper_z": 1.0032273484800722,
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+            "gripper_position": [
+              0.23968717118180163,
+              0.2119296498271097,
+              1.0032273484800722
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+              0.005492164582402481,
+              0.004910759419199717,
+              -0.0022181201404460893
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+            "object_to_gripper_xy": 0.007367457490440985,
+            "object_to_gripper_z": -0.0022181201404460893,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24517933576420411,
+              0.19188885414661075,
+              1.0010092283396261
+            ],
+            "finger_b": [
+              0.23359532058038332,
+              0.21684040924630943,
+              1.0010092283396261
+            ],
+            "finger_midpoint": [
+              0.23938732817229372,
+              0.20436463169646008,
+              1.0010092283396261
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057920075919103975,
+              0.012475777549849354,
+              0.0
+            ],
+            "finger_gap": 0.0275094440087816,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0010092283396261,
+            "object_top_z": 1.0512159273156079,
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+            "fingertip_min_top_clearance": 0.015062009692794552,
+            "object_projection_between_fingers": 0.8226812707648596,
+            "object_to_finger_line_xy": 0.010506907847449887,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803572522365386,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.12590933925295303,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint7",
+                "left_inner_finger",
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+                "mobile_rotate",
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+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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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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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007479369640350342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007479917810061056,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1755524575710296,
+              -0.36130863428115845,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1755524575710296,
+              -0.36130863428115845,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17582578762404152,
+              -0.3631488645990686,
+              0.8056153414554837
+            ],
+            "closest_button": [
+              0.17553439736366266,
+              -0.36133232712745667,
+              0.7706490755081177
+            ],
+            "closest_ee_minus_button": [
+              0.00029139026037885984,
+              -0.0018165374716119231,
+              0.03496626594736607
+            ],
+            "button_min_z_position": [
+              0.17546366155147547,
+              -0.3613263964653015,
+              0.7693294882774353
+            ],
+            "min_active_finger_to_button": 0.14552121253251735,
+            "closest_active_finger": [
+              0.03528348356485367,
+              -0.3449960947036743,
+              0.8080003261566162
+            ],
+            "closest_active_finger_button": [
+              0.17557428777217862,
+              -0.3613227307796478,
+              0.7729524374008179
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14029080420732495,
+              0.01632663607597351,
+              0.03504788875579834
+            ],
+            "min_contact_pad_to_button": 0.021486685257737337,
+            "closest_contact_pad": [
+              0.17553439736366266,
+              -0.36133232712745667,
+              0.792135760765855
+            ],
+            "closest_contact_pad_button": [
+              0.17553439736366266,
+              -0.36133232712745667,
+              0.7706490755081177
+            ],
+            "closest_contact_pad_index": 1,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021486685257737337
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9949cae996663252b8450690533c0f16093439b2e4fa8e9c9ec239d78420d270",
+    "visual_seed": 3711791268584664788,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf5b052fa343f327f8a75e519b24b272c4c5d896
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/episode_99_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24996110359440016,
+              0.2124830270225028,
+              1.0029182377771124
+            ],
+            "current_z": 1.0029182377771124,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.1418116105530567,
+            "gripper_z": 1.0050663092683216,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24482396337470916,
+              0.20755335197718972,
+              1.0050663092683216
+            ],
+            "object_minus_gripper": [
+              0.005137140219691,
+              0.004929675045313081,
+              -0.0021480714912092136
+            ],
+            "object_to_gripper_xy": 0.007119824835566492,
+            "object_to_gripper_z": -0.0021480714912092136,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24996110359440016,
+              0.1880892769099544,
+              1.0029182377771124
+            ],
+            "finger_b": [
+              0.23787405393439992,
+              0.2124830270225028,
+              1.0029182377771124
+            ],
+            "finger_midpoint": [
+              0.24391757876440004,
+              0.2002861519662286,
+              1.0029182377771124
+            ],
+            "object_minus_finger_midpoint": [
+              0.006043524830000119,
+              0.012196875056274203,
+              0.0
+            ],
+            "finger_gap": 0.027224103548818046,
+            "fingertip_max_gap": 0.09095523294262861,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0029182377771124,
+            "object_top_z": 1.0528786570154358,
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+            "object_projection_between_fingers": 0.8028787534262659,
+            "object_to_finger_line_xy": 0.010830419759287545,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797761647131431,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4403680401856009,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.18882809811977647,
+              -0.0922784817288341,
+              0.756586380870671
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+            "gripper_position": [
+              0.19628281173751214,
+              -0.10346986972634246,
+              1.0177208178395962
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+            "target_minus_gripper": [
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+              0.011191387997508365,
+              -0.26113443696892524
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+            "held_position": [
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+              -0.0987148725541411,
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+            "held_minus_target": [
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+              0.25895804600350836
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+            "held_minus_gripper": [
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+              0.004754997172201361,
+              -0.0021763909654168856
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+            "xy_dist": 0.013446929777210407,
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+            "held_gripper_dist": 0.00741712172699199,
+            "max_held_gripper_dist": 0.007535346978511904,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.756586380870671,
+            "held_z": 1.0155444268741793,
+            "required_height": 0.786586380870671,
+            "gripper_z": 1.0177208178395962,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.52353050899653,
+            "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": 0.4347864829008704,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.8076911412646175,
+            "max_source_tilt_deg": 89.70271871563527,
+            "source_upright_tilt_deg": 2.8017148631420548,
+            "max_source_upright_tilt_deg": 89.53989226846446,
+            "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": 2.8076911412646175,
+            "source_upright_return_tilt_deg": 2.8017148631420548,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.2680771853719072e-07,
+            "max_target_xy_drift": 3.437572941924795e-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": 0.03956467793197429,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 1.2013660097101191e-05,
+            "max_target_tilt_deg": 0.00030412443132851323,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.1888,
+                -0.0923,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.1888,
+                -0.0923,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0018,
+                0.0013,
+                0.0007
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+              "controller_last_pour_pose_position": [
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+                1.0225
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0904
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+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_leftfinger",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_3_joint"
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+            },
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "attach_object": null,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
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+              -0.3071803083784169,
+              0.8470195074184506
+            ],
+            "target_position": [
+              0.3194678612511997,
+              -0.306983808225903,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18459866048821133,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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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": 0.15335145040487294,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
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+            "object_tilt_deg": 2.5561886590853193,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074468255043029785,
+            "max_z_decrease": 0.0074468255043029785,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035016623828371195,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074468255043029785,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021457032836335155,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074468255043029785,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007447411064119882,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17516778409481046,
+              -0.363245278596878,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17516778409481046,
+              -0.363245278596878,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17548230067916634,
+              -0.3650179215279965,
+              0.8047586364241565
+            ],
+            "closest_button": [
+              0.17512202262878415,
+              -0.36325517296791066,
+              0.7697882652282715
+            ],
+            "closest_ee_minus_button": [
+              0.0003602780503821901,
+              -0.0017627485600858472,
+              0.034970371195884975
+            ],
+            "button_min_z_position": [
+              0.17507439851760861,
+              -0.36324605345726,
+              0.7693620324134827
+            ],
+            "min_active_finger_to_button": 0.1454269449074275,
+            "closest_active_finger": [
+              0.03496883064508438,
+              -0.34710854291915894,
+              0.8079330921173096
+            ],
+            "closest_active_finger_button": [
+              0.1751956790685653,
+              -0.36325722932815546,
+              0.7729381322860718
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14022684842348093,
+              0.016148686408996527,
+              0.03499495983123779
+            ],
+            "min_contact_pad_to_button": 0.021457032836335155,
+            "closest_contact_pad": [
+              0.17512202262878415,
+              -0.36325517296791066,
+              0.7912452980646066
+            ],
+            "closest_contact_pad_button": [
+              0.17512202262878415,
+              -0.36325517296791066,
+              0.7697882652282715
+            ],
+            "closest_contact_pad_index": 1,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021457032836335155
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 653728589176665210,
+    "physical_seed": 1561934308252719992,
+    "layout_id": "layout_00009",
+    "step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "workflow_spec_digest": "9dcb34a30f9496275853aeec0d4ae1fd9c645ab480878078e5748a974e80fc43",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb1082d77ec1cebf1521b33d2ff3ef5cb9a7c6fb2d45a8b3456244985ddd3a69",
+    "visual_seed": 3468615181000695347,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4514413757167771029,
+      4854378746948072118,
+      9146690148224788191,
+      1424608895391860828,
+      4680139622970940367,
+      3172284635944930312
+    ],
+    "runtime_workflow_digest": "86642e7d574881373994bc8e3feded66d52180bcaa9f735e9e77ba925c2851c7"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3a77fcef4a05ac5a7d793c99d4988d2cf13fe5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00009/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s06_polplr_htf_00009",
+  "family": "lab3_v1",
+  "published_episodes": 99,
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6681910c373aebde276ba663db9bbc092e160ace
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2c32d27a6e0032485f03b2b17fdf7b36b9cbe49f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/resolved_config.yaml
@@ -0,0 +1,318 @@
+name: lab3_heat_2beaker_s06_polplr_htf_00010
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into beaker b and
+    return it upright. Place beaker a at home. Pick up beaker b from home. Place beaker
+    b on the heater platform. Press the heater button to start heating.
+  layout_id: layout_00010
+  reproducibility:
+    enabled: true
+    layout_id: layout_00010
+    action_seed: 3987082320295684552
+    step_seeds:
+    - 3913869556532046801
+    - 6355663699133699465
+    - 4530951244343176879
+    - 8183303725499626623
+    - 888834576744766557
+    - 629689841364914383
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2227
+      - 0.2227
+      'y':
+      - 0.1488
+      - 0.1488
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2153
+      - 0.2153
+      'y':
+      - -0.125
+      - -0.125
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3117
+      - 0.3117
+      'y':
+      - 0.3124
+      - 0.3124
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2531
+      - 0.2531
+      'y':
+      - -0.4041
+      - -0.4041
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..447391daaae6fbe9f5cda4853e48b3482742b891
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_0_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25117404014308664,
+              0.14609663920919147,
+              1.0018727549373079
+            ],
+            "current_z": 1.0018727549373079,
+            "required_z": 0.8611065642970395,
+            "initial_z": 0.7611065642970395,
+            "lift_margin": 0.1407661906402684,
+            "gripper_z": 1.004659696605229,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24590770741115076,
+              0.14128234954050406,
+              1.004659696605229
+            ],
+            "object_minus_gripper": [
+              0.0052663327319358855,
+              0.00481428966868741,
+              -0.00278694166792115
+            ],
+            "object_to_gripper_xy": 0.007135239691663457,
+            "object_to_gripper_z": -0.00278694166792115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25117404014308664,
+              0.12134114527314793,
+              1.0018727549373079
+            ],
+            "finger_b": [
+              0.23962439636068344,
+              0.14609663920919147,
+              1.0018727549373079
+            ],
+            "finger_midpoint": [
+              0.24539921825188504,
+              0.1337188922411697,
+              1.0018727549373079
+            ],
+            "object_minus_finger_midpoint": [
+              0.005774821891201598,
+              0.012377746968021769,
+              0.0
+            ],
+            "finger_gap": 0.027317187840586614,
+            "fingertip_max_gap": 0.09084174340806331,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013658593920293307,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0018727549373079,
+            "object_top_z": 1.0519064178905702,
+            "finger_top_clearance": 0.05003366295326228,
+            "fingertip_min_top_clearance": 0.015010098885978667,
+            "object_projection_between_fingers": 0.8212421174752789,
+            "object_to_finger_line_xy": 0.010466565529631216,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047920871704031656,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41465733004267685,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23842326421398727,
+              -0.12565139865238506,
+              0.7565862093853417
+            ],
+            "gripper_position": [
+              0.24326641085294248,
+              -0.13865282645757374,
+              1.020872272769016
+            ],
+            "target_minus_gripper": [
+              -0.004843146638955215,
+              0.013001427805188676,
+              -0.26428606338367433
+            ],
+            "held_position": [
+              0.24855920782797483,
+              -0.13392115078376768,
+              1.0180504045317775
+            ],
+            "held_minus_target": [
+              0.010135943613987564,
+              -0.008269752131382618,
+              0.2614641951464358
+            ],
+            "held_minus_gripper": [
+              0.005292796975032349,
+              0.004731675673806057,
+              -0.0028218682372385118
+            ],
+            "xy_dist": 0.013874191664380179,
+            "held_xy_dist": 0.01308151953178386,
+            "held_gripper_dist": 0.007639724788847775,
+            "max_held_gripper_dist": 0.007798805813098657,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565862093853417,
+            "held_z": 1.0180504045317775,
+            "required_height": 0.7865862093853417,
+            "gripper_z": 1.020872272769016,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 119.6926789775995,
+            "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": 1.018914199509284,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.506809764397401,
+            "max_source_tilt_deg": 89.77438518851662,
+            "source_upright_tilt_deg": 2.505046921974172,
+            "max_source_upright_tilt_deg": 89.92212807770387,
+            "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": 2.506809764397401,
+            "source_upright_return_tilt_deg": 2.505046921974172,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.686345037418596e-07,
+            "max_target_xy_drift": 8.893384523020252e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2384,
+                -0.1257,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2384,
+                -0.1257,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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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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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008746802806854248,
+            "max_z_decrease": 0.008746802806854248,
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+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499177815616485,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008746802806854248,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020876684594020326,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008746802806854248,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008747496017508165,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1638631224632263,
+              -0.4574725925922394,
+              0.7768088579177856
+            ],
+            "button_final": [
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+              -0.4574725925922394,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1632335253649376,
+              -0.45713135946229055,
+              0.8038067673289699
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+            "closest_button": [
+              0.1637533903121948,
+              -0.4574277997016907,
+              0.7688201069831848
+            ],
+            "closest_ee_minus_button": [
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+              0.00029644023940011976,
+              0.034986660345785126
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+            "button_min_z_position": [
+              0.16375750303268427,
+              -0.4574414193630218,
+              0.7680620551109314
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+            "min_active_finger_to_button": 0.14625272264250921,
+            "closest_active_finger": [
+              0.03534960746765137,
+              -0.5183568000793457,
+              0.8102244734764099
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+            "closest_active_finger_button": [
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+              -0.4574767053127288,
+              0.7760363817214966
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+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
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+              -0.06088009476661688,
+              0.03418809175491333
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+            "min_contact_pad_to_button": 0.020876684594020326,
+            "closest_contact_pad": [
+              0.16375750303268427,
+              -0.4584380774855152,
+              0.7889149357806392
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+            "closest_contact_pad_button": [
+              0.16375750303268427,
+              -0.4574414193630218,
+              0.7680620551109314
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000996658122493388,
+              0.020852880669707807
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5fe301b74406b3ec165607c9b6d5115e01fbf722cd0251bea25e5e67826d5cd1",
+    "visual_seed": 3134173430641479328,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eac8ee785d47f49b97ffe0bf283ba62d1c0cfdf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_100_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+                "dummy_base_revolute_z_joint",
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+                "fr3_duo_mobile",
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
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+            "release_fingertip_min_gap": 0.08692991065451026,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15426454560852318,
+            "release_required_pad_clearance": 0.053464955327255134,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9431285499675373,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008880972862243652,
+            "max_z_decrease": 0.008880972862243652,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503025148151501,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008880972862243652,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02087361373868232,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008880972862243652,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008881788855811904,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1625117510557174,
+              -0.45707875490188593,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1625117510557174,
+              -0.45707875490188593,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1635090772936964,
+              -0.45627431847015376,
+              0.8037004444028851
+            ],
+            "closest_button": [
+              0.16240879893302912,
+              -0.4570309221744537,
+              0.7686956524848938
+            ],
+            "closest_ee_minus_button": [
+              0.001100278360667284,
+              0.0007566037042999185,
+              0.03500479191799133
+            ],
+            "button_min_z_position": [
+              0.16240057349205014,
+              -0.457032561302185,
+              0.767927885055542
+            ],
+            "min_active_finger_to_button": 0.14460826400048393,
+            "closest_active_finger": [
+              0.03663550317287445,
+              -0.5195481181144714,
+              0.8103862404823303
+            ],
+            "closest_active_finger_button": [
+              0.16250902414321897,
+              -0.4570780396461486,
+              0.7762556672096252
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12587352097034452,
+              -0.06247007846832281,
+              0.03413057327270508
+            ],
+            "min_contact_pad_to_button": 0.02087361373868232,
+            "closest_contact_pad": [
+              0.16240057349205014,
+              -0.4573920149186461,
+              0.7887984035831043
+            ],
+            "closest_contact_pad_button": [
+              0.16240057349205014,
+              -0.457032561302185,
+              0.767927885055542
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00035945361646111396,
+              0.020870518527562276
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e6438b2d99de0c58fa5c3e817af0d16004c7f26b72e0890659261592a90ed58",
+    "visual_seed": 5036589113172227641,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7aef76dd0653a4588bf9478b9792001b3489557
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_101_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25057982203364104,
+              0.14949433580971527,
+              1.001953909006776
+            ],
+            "current_z": 1.001953909006776,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14084746059665465,
+            "gripper_z": 1.0047594304577403,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24546572744357686,
+              0.14475625956729649,
+              1.0047594304577403
+            ],
+            "object_minus_gripper": [
+              0.005114094590064178,
+              0.004738076242418787,
+              -0.0028055214509643545
+            ],
+            "object_to_gripper_xy": 0.006971608849834952,
+            "object_to_gripper_z": -0.0028055214509643545,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25057982203364104,
+              0.12485499183505964,
+              1.001953909006776
+            ],
+            "finger_b": [
+              0.23912841247462635,
+              0.14949433580971527,
+              1.001953909006776
+            ],
+            "finger_midpoint": [
+              0.2448541172541337,
+              0.13717466382238747,
+              1.001953909006776
+            ],
+            "object_minus_finger_midpoint": [
+              0.005725704779507346,
+              0.012319671987327807,
+              0.0
+            ],
+            "finger_gap": 0.02717042606198312,
+            "fingertip_max_gap": 0.09119425946965848,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013585213030991555,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.001953909006776,
+            "object_top_z": 1.0519736175636045,
+            "finger_top_clearance": 0.05001970855682858,
+            "fingertip_min_top_clearance": 0.01500591256704859,
+            "object_projection_between_fingers": 0.8223664490537852,
+            "object_to_finger_line_xy": 0.010384644630730109,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809712973482924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7507686979467271,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d9b9e5004316117c064a34bc7c6d18131ffd093bdc5990af586fb86f88301739",
+    "visual_seed": 5510419147866413441,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee82ac0eb840de4c47801f09837f6bbea533e09f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_102_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.14804485697311895,
+              0.9990475246600325
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+            "current_z": 0.9990475246600325,
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+            "lift_margin": 0.13794113585455603,
+            "gripper_z": 1.002178907455934,
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+              0.143097351147263,
+              1.002178907455934
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+              0.004947505825855958,
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+            "object_to_gripper_z": -0.003131382795901416,
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+              0.12342432904082612,
+              0.9990475246600325
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+            "finger_b": [
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+              0.14804485697311895,
+              0.9990475246600325
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+            "finger_midpoint": [
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+              0.13573459300697255,
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+              0.0123102639661464,
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+              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": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7565861620196646
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+              -0.13544221393324768,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.6058512836283,
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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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+            "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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+              "controller_target_minus_raw_target": [
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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"
+              ],
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+            },
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.30804949515518665,
+              -0.4070199461487539,
+              0.8470201319664816
+            ],
+            "target_position": [
+              0.30320686985954276,
+              -0.407431655447818,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004860095091759615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862173269205131,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470201319664816,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554277587178701,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08684918838640808,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15424804358070662,
+            "release_required_pad_clearance": 0.05342459419320404,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8616634525747378,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.009019315242767334,
+            "max_z_decrease": 0.009019315242767334,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504460529117066,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.009019315242767334,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020820531782838714,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.009019315242767334,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.009019439023864153,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15890680253505704,
+              -0.46369311213493336,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15890680253505704,
+              -0.46369311213493336,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1592188516591587,
+              -0.4617959650657104,
+              0.8027830398025363
+            ],
+            "closest_button": [
+              0.1588766574859619,
+              -0.463656723499298,
+              0.7677895426750183
+            ],
+            "closest_ee_minus_button": [
+              0.0003421941731968081,
+              0.0018607584335875726,
+              0.03499349712751798
+            ],
+            "button_min_z_position": [
+              0.1588766574859619,
+              -0.463656723499298,
+              0.7677895426750183
+            ],
+            "min_active_finger_to_button": 0.14471725047688652,
+            "closest_active_finger": [
+              0.0325642004609108,
+              -0.5254791378974915,
+              0.8102134466171265
+            ],
+            "closest_active_finger_button": [
+              0.1589010804891586,
+              -0.46369153261184687,
+              0.7760906219482422
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263368800282478,
+              -0.06178760528564459,
+              0.03412282466888428
+            ],
+            "min_contact_pad_to_button": 0.020820531782838714,
+            "closest_contact_pad": [
+              0.1588766574859619,
+              -0.463656723499298,
+              0.788610074457857
+            ],
+            "closest_contact_pad_button": [
+              0.1588766574859619,
+              -0.463656723499298,
+              0.7677895426750183
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020820531782838714
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12ffc78ca67c7559ceffa2a7d34310a8512e20adcc719367a3221b9db80166f3",
+    "visual_seed": 1748595481782149824,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a477cb0b4d326a5ad5dea092b4322b783d38a755
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_103_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_a",
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+              1.0002811150567736
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+            "lift_margin": 0.13917460704200757,
+            "gripper_z": 1.003105561520163,
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+            "gripper_position": [
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+              0.1468903615439951,
+              1.003105561520163
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.2534251132077694,
+              0.12725639411664386,
+              1.0002811150567736
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+              0.15175620992544198,
+              1.0002811150567736
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+            "finger_midpoint": [
+              0.24749762467436864,
+              0.13950630202104292,
+              1.0002811150567736
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+            "object_minus_finger_midpoint": [
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+            "finger_gap": 0.027217300672906983,
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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": 1.0502333923445244,
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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": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00895911455154419,
+            "max_z_decrease": 0.00895911455154419,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501063020643693,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00895911455154419,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020839416328032545,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00895911455154419,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008959276647072738,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16401387751102448,
+              -0.4563800692558288,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16401387751102448,
+              -0.4563800692558288,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16383555848730547,
+              -0.4551410708801184,
+              0.8028395950466453
+            ],
+            "closest_button": [
+              0.16397961974143982,
+              -0.45633846521377563,
+              0.7678497433662415
+            ],
+            "closest_ee_minus_button": [
+              -0.00014406125413435333,
+              0.0011973943336572312,
+              0.034989851680403805
+            ],
+            "button_min_z_position": [
+              0.16397961974143982,
+              -0.45633846521377563,
+              0.7678497433662415
+            ],
+            "min_active_finger_to_button": 0.14548068776103404,
+            "closest_active_finger": [
+              0.03587117791175842,
+              -0.5161693692207336,
+              0.8102834820747375
+            ],
+            "closest_active_finger_button": [
+              0.16401289403438565,
+              -0.45638144016265864,
+              0.7760820984840393
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12814171612262723,
+              -0.05978792905807501,
+              0.03420138359069824
+            ],
+            "min_contact_pad_to_button": 0.020839416328032545,
+            "closest_contact_pad": [
+              0.16397961974143982,
+              -0.4565087654458235,
+              0.7886884638337758
+            ],
+            "closest_contact_pad_button": [
+              0.16397961974143982,
+              -0.45633846521377563,
+              0.7678497433662415
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001703002320478375,
+              0.020838720467534322
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba68fc4e98857c75a4b975196a59a63098344fbed6aa393e76c3d5742cc7dd66",
+    "visual_seed": 402354361619245926,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8473f51bb276fa7e3f807cb4d51d63cab386b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_104_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
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+              0.15039369407630848,
+              1.0011177404439642
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+            "gripper_z": 1.004418091685959,
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+            "gripper_position": [
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+              0.14546757685906664,
+              1.004418091685959
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+              0.004926117217241843,
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+            "object_to_gripper_z": -0.0033003512419949033,
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+              0.24665184947358523,
+              0.12608455885268835,
+              1.0011177404439642
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+            "finger_b": [
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+              0.15039369407630848,
+              1.0011177404439642
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+            "finger_midpoint": [
+              0.24060955029623932,
+              0.13823912646449843,
+              1.0011177404439642
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+              0.012154567611810052,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 162,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.1387649578670947,
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+            "max_held_gripper_dist": 0.007979691558059745,
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+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 119.52725179590179,
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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": 89.66032963583628,
+            "source_upright_tilt_deg": 2.293485711468569,
+            "max_source_upright_tilt_deg": 89.70091747322634,
+            "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": 2.469458371497984,
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+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
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+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a5fb1ab3777b6d852e8ec8f3b90e853f67400619c5b6d21e5cd0818676476c4",
+    "visual_seed": 6751386172075549047,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1976444a523247f7f9111d4d6033b415c5d37536
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_105_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "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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+            "source_missing": false,
+            "forbidden": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31076128769423383,
+              -0.4002375946422045,
+              0.8470196009159773
+            ],
+            "target_position": [
+              0.30575573658272076,
+              -0.40027742820564305,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0050057096043164525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851169616442976,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196009159773,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753285551100113,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520567084367957,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15344218698847603,
+            "release_required_pad_clearance": 0.052602835421839786,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2683406617897733,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008923888206481934,
+            "max_z_decrease": 0.008923888206481934,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035042439028670824,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008923888206481934,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021019314196624443,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008923888206481934,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008924056856161128,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1614556610584259,
+              -0.4565388858318329,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1614556610584259,
+              -0.4565388858318329,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16080259917418463,
+              -0.4583900069270894,
+              0.8036940874177179
+            ],
+            "closest_button": [
+              0.1614028364419937,
+              -0.45653322339057917,
+              0.7687060236930847
+            ],
+            "closest_ee_minus_button": [
+              -0.0006002372678090839,
+              -0.0018567835365102536,
+              0.034988063724633145
+            ],
+            "button_min_z_position": [
+              0.16142092645168304,
+              -0.45649641752243036,
+              0.7678849697113037
+            ],
+            "min_active_finger_to_button": 0.14637623791443716,
+            "closest_active_finger": [
+              0.01964578777551651,
+              -0.4444422423839569,
+              0.8104371428489685
+            ],
+            "closest_active_finger_button": [
+              0.16144904494285583,
+              -0.4565376043319702,
+              0.7762093544006348
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14180325716733932,
+              0.012095361948013306,
+              0.03422778844833374
+            ],
+            "min_contact_pad_to_button": 0.021019314196624443,
+            "closest_contact_pad": [
+              0.16142092645168304,
+              -0.45935042851039665,
+              0.7887096231436417
+            ],
+            "closest_contact_pad_button": [
+              0.16142092645168304,
+              -0.45649641752243036,
+              0.7678849697113037
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028540109879662823,
+              0.02082465343233797
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db12b451d6a0f18dc65f666a5b552625291e12040eedbaedbef0e77f66f71d74",
+    "visual_seed": 4763367965034845037,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74dd0aeb2edca8e97f97c0a8956adf7dd55174cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_106_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.244382079929435,
+              0.14824550067317782,
+              0.9999688207363093
+            ],
+            "current_z": 0.9999688207363093,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.13886237232618814,
+            "gripper_z": 1.0033887105783499,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23914589826396151,
+              0.14340238713641695,
+              1.0033887105783499
+            ],
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+              0.004843113536760868,
+              -0.0034198898420405577
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+            "object_to_gripper_z": -0.0034198898420405577,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.244382079929435,
+              0.12348646157974043,
+              0.9999688207363093
+            ],
+            "finger_b": [
+              0.2328392523250548,
+              0.14824550067317782,
+              0.9999688207363093
+            ],
+            "finger_midpoint": [
+              0.2386106661272449,
+              0.13586598112645912,
+              0.9999688207363093
+            ],
+            "object_minus_finger_midpoint": [
+              0.005771413802190095,
+              0.012379519546718704,
+              0.0
+            ],
+            "finger_gap": 0.027317519761771974,
+            "fingertip_max_gap": 0.09024892855877426,
+            "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": 0.9999688207363093,
+            "object_top_z": 1.04987812466921,
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+            "object_projection_between_fingers": 0.8214573868036458,
+            "object_to_finger_line_xy": 0.01046175942757403,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04762446427938713,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.32939604008652257,
+            "object_max_tilt_deg": 15.0,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+            "closest_button": [
+              0.1642312854528427,
+              -0.4634396433830261,
+              0.7687034010887146
+            ],
+            "closest_ee_minus_button": [
+              -0.0015781059711435785,
+              -0.002012841312634628,
+              0.034975983010860134
+            ],
+            "button_min_z_position": [
+              0.16424719989299774,
+              -0.4634048044681549,
+              0.7679221034049988
+            ],
+            "min_active_finger_to_button": 0.14727026226144657,
+            "closest_active_finger": [
+              0.02176341414451599,
+              -0.44910353422164917,
+              0.8107358813285828
+            ],
+            "closest_active_finger_button": [
+              0.16428646445274353,
+              -0.46344757080078125,
+              0.7765312194824219
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14252305030822754,
+              0.01434403657913208,
+              0.03420466184616089
+            ],
+            "min_contact_pad_to_button": 0.02105627020471303,
+            "closest_contact_pad": [
+              0.16424719989299774,
+              -0.4666463037068485,
+              0.7887273719113035
+            ],
+            "closest_contact_pad_button": [
+              0.16424719989299774,
+              -0.4634048044681549,
+              0.7679221034049988
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0032414992386936015,
+              0.020805268506304708
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1daadff6a578665d36b0aa4da3e7dd1dee6c605411909d74f22f3836145cf53",
+    "visual_seed": 736371422360939719,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19ff3f1c6f6603bdb3462d0396557c8409aac35c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_107_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2509959179742315,
+              0.14775696246495787,
+              1.002166495354548
+            ],
+            "current_z": 1.002166495354548,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14105998733978198,
+            "gripper_z": 1.0050036030261926,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2458456386836977,
+              0.14299506203076548,
+              1.0050036030261926
+            ],
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+              0.005150279290533799,
+              0.00476190043419239,
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+            "object_to_gripper_xy": 0.007014347618678661,
+            "object_to_gripper_z": -0.0028371076716446897,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2509959179742315,
+              0.12304179431830614,
+              1.002166495354548
+            ],
+            "finger_b": [
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+              0.14775696246495787,
+              1.002166495354548
+            ],
+            "finger_midpoint": [
+              0.24528458792045005,
+              0.13539937839163202,
+              1.002166495354548
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01235758407332585,
+              0.0
+            ],
+            "finger_gap": 0.02722713169708069,
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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": 1.0520782287425032,
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+            "object_projection_between_fingers": 0.8239926824072984,
+            "object_to_finger_line_xy": 0.01036881036098034,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047931050700217734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.606672071176251,
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+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.236022541887427,
+              -0.12749727584536974,
+              0.7565862102386693
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+            "gripper_position": [
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+              -0.13978539931868306,
+              1.0207165291816094
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+              0.012288123473313317,
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+              -0.13521656570243162,
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+            "held_minus_gripper": [
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+              0.004568833616251433,
+              -0.0028729291007512092
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+            "max_held_gripper_dist": 0.007710686342342262,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.7865862102386694,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 119.98510669672443,
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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,
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+            "source_start_tilt_deg": 1.2543586964366824,
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+            "source_tilt_deg": 2.8485270423605558,
+            "max_source_tilt_deg": 89.59450106286637,
+            "source_upright_tilt_deg": 2.4233990961243457,
+            "max_source_upright_tilt_deg": 89.90306772208338,
+            "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": 2.8485270423605558,
+            "source_upright_return_tilt_deg": 2.4233990961243457,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.2156143283690723e-07,
+            "max_target_xy_drift": 8.191722771731187e-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": 0.03956456324400178,
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+            "target_tilt_deg": 0.0005457657463475451,
+            "max_target_tilt_deg": 0.0012348633870565837,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.236,
+                -0.1275,
+                0.7566
+              ],
+              "controller_target_position": [
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+                -0.1275,
+                0.7566
+              ],
+              "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,
+              "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",
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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_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "joint2",
+                "joint3",
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+                "left_inner_finger",
+                "lift2",
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+                "mobile_translate_y",
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
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+              "passed": true,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.31358357461081365,
+              -0.406767268517119,
+              0.847018872867426
+            ],
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+              0.30818605582482744,
+              -0.40734557221435896,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005428410836636768,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18474977948515156,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.847018872867426,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520635671241305,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544646328058168,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15357148597348558,
+            "release_required_pad_clearance": 0.052723231640290844,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4973189690127429,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.009018480777740479,
+            "max_z_decrease": 0.009018480777740479,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510487337517476,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.009018480777740479,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021067348997632043,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.009018480777740479,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.009018894467593526,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16388598084449768,
+              -0.4636070430278778,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16388598084449768,
+              -0.4636070430278778,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16589558792283832,
+              -0.4650237150126354,
+              0.8028028871708655
+            ],
+            "closest_button": [
+              0.16381973028182983,
+              -0.46355161070823664,
+              0.7677903771400452
+            ],
+            "closest_ee_minus_button": [
+              0.002075857641008483,
+              -0.001472104304398758,
+              0.03501251003082029
+            ],
+            "button_min_z_position": [
+              0.16381973028182983,
+              -0.46355161070823664,
+              0.7677903771400452
+            ],
+            "min_active_finger_to_button": 0.14374637958416664,
+            "closest_active_finger": [
+              0.025241263210773468,
+              -0.44738227128982544,
+              0.8106046915054321
+            ],
+            "closest_active_finger_button": [
+              0.16388799250125885,
+              -0.46360826492309565,
+              0.7762998342514038
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13864672929048538,
+              0.016225993633270208,
+              0.03430485725402832
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+            "min_contact_pad_to_button": 0.021067348997632043,
+            "closest_contact_pad": [
+              0.16381973028182983,
+              -0.4663348263805866,
+              0.788673071034972
+            ],
+            "closest_contact_pad_button": [
+              0.16381973028182983,
+              -0.46355161070823664,
+              0.7677903771400452
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002783215672349959,
+              0.020882693894926807
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c418afda4f8bd827afe765e7df6737f71510e435fdc4bb2fe40cd2cbfef3a816",
+    "visual_seed": 2901353709756087318,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..457afb68e8d48ef26cf06174c1f3976eaeb867de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_108_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2462771896777956,
+              0.14968491500705805,
+              1.0022971631198954
+            ],
+            "current_z": 1.0022971631198954,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1411906551051294,
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008998513221740723,
+            "max_z_decrease": 0.008998513221740723,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499782878822439,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008998513221740723,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020886567901267045,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008998513221740723,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008999293070180587,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16048635542392725,
+              -0.4605052769184112,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16048635542392725,
+              -0.4605052769184112,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16032532351870085,
+              -0.46092277384322755,
+              0.8036470482736928
+            ],
+            "closest_button": [
+              0.16038455069065088,
+              -0.46045622229576105,
+              0.7686523795127869
+            ],
+            "closest_ee_minus_button": [
+              -5.9227171950032576e-05,
+              -0.0004665515474664983,
+              0.034994668760905956
+            ],
+            "button_min_z_position": [
+              0.16037963330745691,
+              -0.46045383810997004,
+              0.7678103446960449
+            ],
+            "min_active_finger_to_button": 0.14593805613207686,
+            "closest_active_finger": [
+              0.019232437014579773,
+              -0.44726622104644775,
+              0.8104432821273804
+            ],
+            "closest_active_finger_button": [
+              0.16047939658164972,
+              -0.46050229668617243,
+              0.7762085199356079
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14124695956706995,
+              0.013236075639724676,
+              0.03423476219177246
+            ],
+            "min_contact_pad_to_button": 0.020886567901267045,
+            "closest_contact_pad": [
+              0.16037963330745691,
+              -0.4618482385278831,
+              0.788650315093547
+            ],
+            "closest_contact_pad_button": [
+              0.16037963330745691,
+              -0.46045383810997004,
+              0.7678103446960449
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013944004179130554,
+              0.020839970397502072
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8761f04594a5068ab3f1484ee8f152a791230f18d7b22fd2c5ec1e11c3b92c9d",
+    "visual_seed": 4252225554653159309,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87269c5eac0092d8dcb79a6a5e8f3881ff747dc9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_10_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2535267671526129,
+              0.1474866872294407,
+              0.9990843861409194
+            ],
+            "current_z": 0.9990843861409194,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.13797793773079836,
+            "gripper_z": 1.0019164865600352,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2483768805115885,
+              0.14272553320459927,
+              1.0019164865600352
+            ],
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+              0.00514988664102442,
+              0.004761154024841424,
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+            "object_to_gripper_xy": 0.007013552599336907,
+            "object_to_gripper_z": -0.002832100419115746,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2535267671526129,
+              0.12277871165645193,
+              0.9990843861409194
+            ],
+            "finger_b": [
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+              0.1474866872294407,
+              0.9990843861409194
+            ],
+            "finger_midpoint": [
+              0.24781054873551128,
+              0.1351326994429463,
+              0.9990843861409194
+            ],
+            "object_minus_finger_midpoint": [
+              0.005716218417101626,
+              0.01235398778649438,
+              0.0
+            ],
+            "finger_gap": 0.027224706956796733,
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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": 0.01037558900036978,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048035057208988124,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6817652357783434,
+            "object_max_tilt_deg": 15.0,
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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": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.12441513178328467,
+              0.7565863299417226
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+            "gripper_position": [
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+              -0.13660031242535398,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004618481994306339,
+              -0.002869302721679734
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+            "xy_dist": 0.012470652277694762,
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+            "held_gripper_dist": 0.007542042000867882,
+            "max_held_gripper_dist": 0.007708452365038299,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3feadf7e7612efc384d742b2b608231003d501e6190bfe26c883d0f3288a5dc",
+    "visual_seed": 528078175155679044,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7d20df2a44ea4a4e74f7dbbfe0ff628cac64421
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_110_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.1506211273190975,
+              1.0018003255640262
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+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.14069351952603615,
+            "gripper_z": 1.0048023123179692,
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+            "gripper_position": [
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+              0.14576143075294903,
+              1.0048023123179692
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+              0.004859696566148458,
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+            "object_to_gripper_z": -0.003001986753943031,
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+              0.1258539495264897,
+              1.0018003255640262
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+            "finger_b": [
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+              1.0018003255640262
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+            "finger_midpoint": [
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+              0.1382375384227936,
+              1.0018003255640262
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+              0.012383588896303893,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 164,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.12028763401456975,
+              0.7565861772618159
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+              -0.13007966895579465,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.75542203895543,
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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": 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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+              "wrist_joint_name": "wrist_3_joint",
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+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
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+              "tilt_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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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                "base_link",
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+            },
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
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+              -0.40712393436139366,
+              0.8470212664335461
+            ],
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+              0.30499168220018646,
+              -0.4071083159211694,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006303572337200608,
+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
+            "object_z": 0.8470212664335461,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15338749527634576,
+            "release_required_pad_clearance": 0.05326696166371021,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.546573800082938,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008832275867462158,
+            "max_z_decrease": 0.008832275867462158,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500200504446047,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008832275867462158,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020840336969326422,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008832275867462158,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008832363056287132,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16069160401821136,
+              -0.4633697867393493,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16069160401821136,
+              -0.4633697867393493,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15941086966444482,
+              -0.4637137149602923,
+              0.8029539389492248
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+            "closest_button": [
+              0.16066919267177582,
+              -0.46333757042884816,
+              0.7679765820503235
+            ],
+            "closest_ee_minus_button": [
+              -0.0012583230073310026,
+              -0.0003761445314441336,
+              0.03497735689890136
+            ],
+            "button_min_z_position": [
+              0.16066919267177582,
+              -0.46333757042884816,
+              0.7679765820503235
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+            "min_active_finger_to_button": 0.14700848900876057,
+            "closest_active_finger": [
+              0.018542297184467316,
+              -0.4478117525577545,
+              0.8102193474769592
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+            "closest_active_finger_button": [
+              0.16066963970661166,
+              -0.46337869763374323,
+              0.7760289311408997
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+            "closest_active_finger_minus_button": [
+              -0.14212734252214435,
+              0.015566945075988714,
+              0.03419041633605957
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+            "closest_contact_pad": [
+              0.16066919267177582,
+              -0.4648674824462742,
+              0.7887606868954692
+            ],
+            "closest_contact_pad_button": [
+              0.16066919267177582,
+              -0.46333757042884816,
+              0.7679765820503235
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015299120174260272,
+              0.0207841048451457
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9596a55076cbfd2cb562e4193bb84b883598aa3c722e4fbefd3f78409aa38f5d",
+    "visual_seed": 5938657135917445072,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..44a0a545ccd373a8669b169209b5623ca778113a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_113_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+            "gripper_z": 1.0023969433558593,
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+              0.24358194403389224,
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+            "object_to_gripper_z": -0.0031594873434950266,
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+              0.12187044033609833,
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+            "finger_b": [
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+            "finger_midpoint": [
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+              0.13406326192860063,
+              0.9992374560123642
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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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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+                "left_inner_finger",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
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+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021023912148787068,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008934378623962402,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00893560131432484,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16031959652900699,
+              -0.45680189132690424,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16031959652900699,
+              -0.45680189132690424,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16224527957713455,
+              -0.4579286390688136,
+              0.8037261476555942
+            ],
+            "closest_button": [
+              0.1602165848016739,
+              -0.45676454901695246,
+              0.7687167525291443
+            ],
+            "closest_ee_minus_button": [
+              0.0020286947754606655,
+              -0.001164090051861133,
+              0.03500939512644996
+            ],
+            "button_min_z_position": [
+              0.16018535196781158,
+              -0.4567400217056274,
+              0.7678744792938232
+            ],
+            "min_active_finger_to_button": 0.14383059382878335,
+            "closest_active_finger": [
+              0.021424703299999237,
+              -0.44183796644210815,
+              0.8104753494262695
+            ],
+            "closest_active_finger_button": [
+              0.16031812131404877,
+              -0.4568019509315491,
+              0.7762417793273926
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13889341801404953,
+              0.014963984489440918,
+              0.03423357009887695
+            ],
+            "min_contact_pad_to_button": 0.021023912148787068,
+            "closest_contact_pad": [
+              0.16018535196781158,
+              -0.4590800081079016,
+              0.7887677639967389
+            ],
+            "closest_contact_pad_button": [
+              0.16018535196781158,
+              -0.4567400217056274,
+              0.7678744792938232
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00233998640227423,
+              0.020893284702915627
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5680a4dd7542ad99c8ea6b2e6e4ca58d80082b167b059aecb198bfb7c67e648f",
+    "visual_seed": 6326150848313277314,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d1292759c9b20c351895bfa4554ed2983dda997
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_11_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24616245464456696,
+              0.150748137147496,
+              0.9995928096247151
+            ],
+            "current_z": 0.9995928096247151,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.13848600358672525,
+            "gripper_z": 1.0025793876061355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2409772533321408,
+              0.14589853277144574,
+              1.0025793876061355
+            ],
+            "object_minus_gripper": [
+              0.005185201312426169,
+              0.004849604376050254,
+              -0.002986577981420435
+            ],
+            "object_to_gripper_xy": 0.0070996461358712685,
+            "object_to_gripper_z": -0.002986577981420435,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24616245464456696,
+              0.12616533399439142,
+              0.9995928096247151
+            ],
+            "finger_b": [
+              0.23442771045103636,
+              0.150748137147496,
+              0.9995928096247151
+            ],
+            "finger_midpoint": [
+              0.24029508254780166,
+              0.1384567355709437,
+              0.9995928096247151
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058673720967653,
+              0.012291401576552285,
+              0.0
+            ],
+            "finger_gap": 0.027240015274443002,
+            "fingertip_max_gap": 0.09073957993382606,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013620007637221501,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9995928096247151,
+            "object_top_z": 1.0495772744698884,
+            "finger_top_clearance": 0.04998446484517327,
+            "fingertip_min_top_clearance": 0.014995339453551998,
+            "object_projection_between_fingers": 0.8144194061483737,
+            "object_to_finger_line_xy": 0.010590042026600808,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786978996691303,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5232655088779166,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.22962945672125168,
+              -0.12161887171543664,
+              0.7565864075421591
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+            "gripper_position": [
+              0.23406532769894617,
+              -0.13093123284350267,
+              1.0199308652011607
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+            "target_minus_gripper": [
+              -0.004435870977694489,
+              0.009312361128066021,
+              -0.2633444576590016
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+            "held_position": [
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+              -0.1262324199176873,
+              1.0169042208054675
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+            "held_minus_target": [
+              0.009703926735139784,
+              -0.004613548202250656,
+              0.2603178132633084
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+            "held_minus_gripper": [
+              0.005268055757445295,
+              0.0046988129258153655,
+              -0.003026644395693223
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+            "xy_dist": 0.010314893170085056,
+            "held_xy_dist": 0.010744813683608056,
+            "held_gripper_dist": 0.007680613951588979,
+            "max_held_gripper_dist": 0.007854584253523159,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7565864075421591,
+            "held_z": 1.0169042208054675,
+            "required_height": 0.7865864075421591,
+            "gripper_z": 1.0199308652011607,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 119.74027856592532,
+            "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": 0.576278133633394,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.515653386797924,
+            "max_source_tilt_deg": 89.6990700624053,
+            "source_upright_tilt_deg": 2.356449003481176,
+            "max_source_upright_tilt_deg": 89.8689566865457,
+            "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": 2.515653386797924,
+            "source_upright_return_tilt_deg": 2.356449003481176,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0233878555986252e-07,
+            "max_target_xy_drift": 8.796971163811921e-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": 0.039564482068667216,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 2.5066654672035824e-05,
+            "max_target_tilt_deg": 0.0007727825937765309,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_b",
+              "raw_target_position": [
+                0.2296,
+                -0.1216,
+                0.7566
+              ],
+              "controller_target_position": [
+                0.2296,
+                -0.1216,
+                0.7566
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
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+            "required_stable_lift_frames": 5
+          },
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3112493543057696,
+              -0.40557821142257156,
+              0.8470206257079353
+            ],
+            "target_position": [
+              0.3058279424320956,
+              -0.4062200428468505,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005459272321583294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18571708000384943,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470206257079353,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534140098572681,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08752377305717411,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15413804085671856,
+            "release_required_pad_clearance": 0.05376188652858706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.524755861233858,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00879967212677002,
+            "max_z_decrease": 0.00879967212677002,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499638689253195,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00879967212677002,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020852793489561504,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00879967212677002,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008800242931112682,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1615278720855713,
+              -0.4624814987182616,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1615278720855713,
+              -0.4624814987182616,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16056448472172968,
+              -0.4623452066551088,
+              0.8037544118151554
+            ],
+            "closest_button": [
+              0.1614294648170471,
+              -0.4624409079551696,
+              0.768768846988678
+            ],
+            "closest_ee_minus_button": [
+              -0.000864980095317408,
+              9.570130006081312e-05,
+              0.03498556482647741
+            ],
+            "button_min_z_position": [
+              0.16143202781677243,
+              -0.4624521732330321,
+              0.7680091857910156
+            ],
+            "min_active_finger_to_button": 0.1466174357400646,
+            "closest_active_finger": [
+              0.03313504904508591,
+              -0.5245046615600586,
+              0.8108201026916504
+            ],
+            "closest_active_finger_button": [
+              0.16152703762054443,
+              -0.4624813497066497,
+              0.7766839265823364
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12839198857545853,
+              -0.06202331185340887,
+              0.034136176109313965
+            ],
+            "min_contact_pad_to_button": 0.020852793489561504,
+            "closest_contact_pad": [
+              0.16143202781677243,
+              -0.4635663434613817,
+              0.7888321928029858
+            ],
+            "closest_contact_pad_button": [
+              0.16143202781677243,
+              -0.4624521732330321,
+              0.7680091857910156
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001114170228349587,
+              0.02082300701197015
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d0e73102cc008c6dae4a68fd0d349442aee971312297bfcc4e653b071626c19",
+    "visual_seed": 6257300025616180550,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..959a791b59095d63791911e607d8ac57cf2a2251
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_12_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
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+    {
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_b",
+      "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,
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+            "valid_pour_grasp_frames": 0,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "pour_controller_debug": {
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+            "release_fingertip_min_gap": 0.08650110691502565,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15248253936286502,
+            "release_required_pad_clearance": 0.053250553457512825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5215805755232685,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008809447288513184,
+            "max_z_decrease": 0.008809447288513184,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503982866693782,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008809447288513184,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020945318863640743,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008809447288513184,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008810333132717414,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15712925791740417,
+              -0.4645377695560455,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15712925791740417,
+              -0.4645377695560455,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15853587507272784,
+              -0.4648736816059409,
+              0.8037714076267891
+            ],
+            "closest_button": [
+              0.1570311635732651,
+              -0.4645028114318847,
+              0.7687658667564392
+            ],
+            "closest_ee_minus_button": [
+              0.0015047114994627409,
+              -0.0003708701740561815,
+              0.035005540870349905
+            ],
+            "button_min_z_position": [
+              0.15701323747634888,
+              -0.46449142694473267,
+              0.7679994106292725
+            ],
+            "min_active_finger_to_button": 0.14443051766660542,
+            "closest_active_finger": [
+              0.017882011830806732,
+              -0.4472414255142212,
+              0.8108137845993042
+            ],
+            "closest_active_finger_button": [
+              0.15712781250476837,
+              -0.464537501335144,
+              0.7765847444534302
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13924580067396164,
+              0.017296075820922796,
+              0.03422904014587402
+            ],
+            "min_contact_pad_to_button": 0.020945318863640743,
+            "closest_contact_pad": [
+              0.15701323747634888,
+              -0.466159804742823,
+              0.7888781773031549
+            ],
+            "closest_contact_pad_button": [
+              0.15701323747634888,
+              -0.46449142694473267,
+              0.7679994106292725
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016683777980903147,
+              0.020878766673882443
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e45a1a755d6d6cbae5b8d23f46fd9eaca1eb1ae3bc63926ba9f0b07bccadb8ee",
+    "visual_seed": 5107355917102599342,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecfb2b2e99657394444732850854e840313e42f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_13_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24434601606115444,
+              0.15404223350392227,
+              0.9995062781696029
+            ],
+            "current_z": 0.9995062781696029,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.13839965094554718,
+            "gripper_z": 1.0025313204946968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2389848638387546,
+              0.1491810835731948,
+              1.0025313204946968
+            ],
+            "object_minus_gripper": [
+              0.005361152222399829,
+              0.004861149930727476,
+              -0.0030250423250939296
+            ],
+            "object_to_gripper_xy": 0.007236900704082817,
+            "object_to_gripper_z": -0.0030250423250939296,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24434601606115444,
+              0.12919623080134487,
+              0.9995062781696029
+            ],
+            "finger_b": [
+              0.23276017341191213,
+              0.15404223350392227,
+              0.9995062781696029
+            ],
+            "finger_midpoint": [
+              0.2385530947365333,
+              0.14161923215263356,
+              0.9995062781696029
+            ],
+            "object_minus_finger_midpoint": [
+              0.005792921324621142,
+              0.01242300135128871,
+              0.0
+            ],
+            "finger_gap": 0.027414514407326007,
+            "fingertip_max_gap": 0.09075478944201379,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01370725720366301,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9995062781696029,
+            "object_top_z": 1.049526118732951,
+            "finger_top_clearance": 0.05001984056334807,
+            "fingertip_min_top_clearance": 0.015005952169004438,
+            "object_projection_between_fingers": 0.8213947845519891,
+            "object_to_finger_line_xy": 0.01050034567447182,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478773947210069,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3217025175727565,
+            "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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8b048b0941c8e64d078b92a3e53bafd7e982e71a8668cbd245b419bbe3b208e",
+    "visual_seed": 5874166486939164280,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76b5a42d60e317d1980c71f7de526f535ef21439
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_14_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2458331089946455,
+              0.15462580220362732,
+              1.0003437207520993
+            ],
+            "current_z": 1.0003437207520993,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.1392373319466229,
+            "gripper_z": 1.0033853339713208,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24050952481279234,
+              0.14979432122732028,
+              1.0033853339713208
+            ],
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+              0.005323584181853164,
+              0.004831480976307034,
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+            "object_to_gripper_xy": 0.007189141601449647,
+            "object_to_gripper_z": -0.003041613219221473,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2458331089946455,
+              0.12979567372838344,
+              1.0003437207520993
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+            "finger_b": [
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+              0.15462580220362732,
+              1.0003437207520993
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+            "finger_midpoint": [
+              0.2400715083240864,
+              0.14221073796600536,
+              1.0003437207520993
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+            "object_minus_finger_midpoint": [
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+              0.012415064237621953,
+              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_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794502317640201,
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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": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.12775876474858763,
+              0.7565862048688419
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+            "gripper_position": [
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+              -0.13878648778674818,
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+            "target_minus_gripper": [
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+            "held_minus_target": [
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+              0.004726681289880463,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 119.70673550691139,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.97544492806927,
+            "source_upright_tilt_deg": 2.3400954378710397,
+            "max_source_upright_tilt_deg": 89.74507924758555,
+            "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": 5.341923150285996e-07,
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+            "target_upright_reference_source": "scene_initial",
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+            "max_target_tilt_deg": 0.0007727849519052363,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_b",
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+                0.7566
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+              "controller_target_position": [
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+                -0.1278,
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+              "controller_last_pour_pose_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "approach_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6046079397201538
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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_minus_raw_target": [
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+                "Robotiq2F85",
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "heater_platform",
+            "object_position": [
+              0.3117248321733983,
+              -0.40118711063340007,
+              0.8470196870664986
+            ],
+            "target_position": [
+              0.3073521465639095,
+              -0.401337211096406,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004375261088029475,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18350563364388695,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8470196870664986,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754050827006055,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616049185701878,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15178979359818484,
+            "release_required_pad_clearance": 0.05308024592850939,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.18892236342059,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/heat_device/heat_device/plat",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008903026580810547,
+            "max_z_decrease": 0.008903026580810547,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035008295094572525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008903026580810547,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020774215561127272,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008903026580810547,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00890306299181495,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16305206716060636,
+              -0.4575986564159393,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16305206716060636,
+              -0.4575986564159393,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16175439729865076,
+              -0.4566638733505116,
+              0.8028784486999974
+            ],
+            "closest_button": [
+              0.16304615139961237,
+              -0.4575738906860351,
+              0.7679058313369751
+            ],
+            "closest_ee_minus_button": [
+              -0.0012917541009616063,
+              0.0009100173355234831,
+              0.03497261736302226
+            ],
+            "button_min_z_position": [
+              0.16304615139961237,
+              -0.4575738906860351,
+              0.7679058313369751
+            ],
+            "min_active_finger_to_button": 0.14654898600951569,
+            "closest_active_finger": [
+              0.03511073440313339,
+              -0.5204097032546997,
+              0.8103013038635254
+            ],
+            "closest_active_finger_button": [
+              0.16304552555084223,
+              -0.4575998485088348,
+              0.7761806845664978
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12793479114770884,
+              -0.06280985474586492,
+              0.03412061929702759
+            ],
+            "min_contact_pad_to_button": 0.020774215561127272,
+            "closest_contact_pad": [
+              0.16304615139961237,
+              -0.4577630618329676,
+              0.7886791855788242
+            ],
+            "closest_contact_pad_button": [
+              0.16304615139961237,
+              -0.4575738906860351,
+              0.7679058313369751
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001891711469325097,
+              0.020773354241849118
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02140701efa5ed99c9bf305b8ffc85e0f73997a6d75039f5051b89a573a23a6b",
+    "visual_seed": 6203115667283729035,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..930e10761a24dbeac06fd7e72d9281982465c098
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_15_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2478198151343776,
+              0.15213287312583026,
+              1.001881079424486
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+            "current_z": 1.001881079424486,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14077457140971994,
+            "gripper_z": 1.0047776073821577,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24273362789593755,
+              0.14727289290975082,
+              1.0047776073821577
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+            "object_minus_gripper": [
+              0.0050861872384400375,
+              0.004859980216079446,
+              -0.002896527957671813
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+            "object_to_gripper_xy": 0.007034821129577774,
+            "object_to_gripper_z": -0.002896527957671813,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2478198151343776,
+              0.1277191075802354,
+              1.001881079424486
+            ],
+            "finger_b": [
+              0.23592553166745653,
+              0.15213287312583026,
+              1.001881079424486
+            ],
+            "finger_midpoint": [
+              0.24187267340091706,
+              0.13992599035303283,
+              1.001881079424486
+            ],
+            "object_minus_finger_midpoint": [
+              0.005947141733460531,
+              0.01220688277279744,
+              0.0
+            ],
+            "finger_gap": 0.027157060358344125,
+            "fingertip_max_gap": 0.09102121368042312,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013578530179172075,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008830487728118896,
+            "max_z_decrease": 0.008830487728118896,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505681514603201,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008830487728118896,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021025225459805702,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008830487728118896,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008831534118436962,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1621829271316528,
+              -0.4633308351039886,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1621829271316528,
+              -0.4633308351039886,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1604354156798148,
+              -0.4652204420863616,
+              0.8037063051279573
+            ],
+            "closest_button": [
+              0.1620641946792602,
+              -0.4632792770862579,
+              0.7687411904335022
+            ],
+            "closest_ee_minus_button": [
+              -0.001628778999445385,
+              -0.0019411650001037173,
+              0.03496511469445507
+            ],
+            "button_min_z_position": [
+              0.16205875575542444,
+              -0.46327549219131464,
+              0.7679783701896667
+            ],
+            "min_active_finger_to_button": 0.1473042865030811,
+            "closest_active_finger": [
+              0.019453540444374084,
+              -0.4506688117980957,
+              0.8108325004577637
+            ],
+            "closest_active_finger_button": [
+              0.162174791097641,
+              -0.46333116292953486,
+              0.7766438722610474
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1427212506532669,
+              0.012662351131439153,
+              0.03418862819671631
+            ],
+            "min_contact_pad_to_button": 0.021025225459805702,
+            "closest_contact_pad": [
+              0.16205875575542444,
+              -0.4662264001644087,
+              0.788795484489444
+            ],
+            "closest_contact_pad_button": [
+              0.16205875575542444,
+              -0.46327549219131464,
+              0.7679783701896667
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029509079730940524,
+              0.020817114299777284
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "34e3a8ad3a4af8b98dec032303f136c0a5e2313b6730da6ede27c9c6ab0e32a8",
+    "visual_seed": 692012398500271603,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3913869556532046801,
+      6355663699133699465,
+      4530951244343176879,
+      8183303725499626623,
+      888834576744766557,
+      629689841364914383
+    ],
+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fad486c18efbdc382a13b4e1808548c5ded78a40
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00010/results/episode_16_success.json
@@ -0,0 +1,1682 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24718147543359137,
+              0.15240867907963918,
+              1.0005737648368207
+            ],
+            "current_z": 1.0005737648368207,
+            "required_z": 0.8611068656426348,
+            "initial_z": 0.7611068656426349,
+            "lift_margin": 0.13946689919418587,
+            "gripper_z": 1.0035931261094404,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24223585552728003,
+              0.14754366464040175,
+              1.0035931261094404
+            ],
+            "object_minus_gripper": [
+              0.004945619906311344,
+              0.004865014439237425,
+              -0.0030193612726197028
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+            "object_to_gripper_xy": 0.006937400215620522,
+            "object_to_gripper_z": -0.0030193612726197028,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24718147543359137,
+              0.12818694469265632,
+              1.0005737648368207
+            ],
+            "finger_b": [
+              0.23518057599506653,
+              0.15240867907963918,
+              1.0005737648368207
+            ],
+            "finger_midpoint": [
+              0.24118102571432895,
+              0.14029781188614776,
+              1.0005737648368207
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060004497192624184,
+              0.012110867193491415,
+              0.0
+            ],
+            "finger_gap": 0.02703172218056285,
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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": 1.0504227016353487,
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+            "object_projection_between_fingers": 0.8029029325619769,
+            "object_to_finger_line_xy": 0.010753388062483714,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047821922571730874,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7223664021468523,
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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_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.23722012861552488,
+              -0.12702068062156063,
+              0.75658635138186
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+              -0.1365563776019621,
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+            "target_minus_gripper": [
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+              0.009535696980401465,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004598957683614624,
+              -0.003054745313400886
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+            "xy_dist": 0.010034690503668033,
+            "held_xy_dist": 0.009626548062672912,
+            "held_gripper_dist": 0.007542859641102961,
+            "max_held_gripper_dist": 0.007725940284604169,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.75658635138186,
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+            "required_height": 0.7865863513818601,
+            "gripper_z": 1.0206367590226395,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 119.69140856241388,
+            "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
+            ],
+            "source_start_tilt_deg": 0.33014907783141684,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.529265022806009,
+            "max_source_tilt_deg": 89.55450148845587,
+            "source_upright_tilt_deg": 2.411249712253576,
+            "max_source_upright_tilt_deg": 89.54775602209054,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_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": 3987082320295684552,
+    "physical_seed": 1590733738191871905,
+    "layout_id": "layout_00010",
+    "step_seeds": [
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+      6355663699133699465,
+      4530951244343176879,
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+    ],
+    "workflow_spec_digest": "b5b0b53d3fb5e165151ee4d8cea680992188150069758aff4967b289d35a8e0d",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddea80d1e127860362ec290572f6d8797bb974ba483f5f370d3cf90394abf749",
+    "visual_seed": 2291222421898227267,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+    "runtime_workflow_digest": "f46228736e6bfc5d50342de32aee31eccf549f9e40cfd8ac2b21c04a86de213a"
+  }
+}
\ No newline at end of file